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AP_Scheduler: load_average returns 1 if main loop running slowly

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Randy Mackay 2022-11-30 20:13:07 +09:00
parent 343acfc789
commit a45a5f19c7
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -308,6 +308,10 @@ uint16_t AP_Scheduler::time_available_usec(void) const
*/ */
float AP_Scheduler::load_average() float AP_Scheduler::load_average()
{ {
// return 1 if filtered main loop rate is 5% below the configured rate
if (get_filtered_loop_rate_hz() < get_loop_rate_hz() * 0.95) {
return 1.0;
}
if (_spare_ticks == 0) { if (_spare_ticks == 0) {
return 0.0f; return 0.0f;
} }