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125 Commits

Author SHA1 Message Date
Andrew Tridgell
ae4bcf0f6f AP_Scheduler: cope with high CPU load by stretching loop times 
this adds an extra budget of time per loop when we are not achieving
scheduled tasks at a rate of at least 1/8 of the desired rate. This
fixes an issue where a vehicle can become uncontrollable if the user
asks for a SCHED_LOOP_RATE which is not achievable. As these events
happen we add extra loop budget until we are able to run all tasks. We
drop the extra time when the CPU pressure eases.
 2019-09-22 21:08:34 +10:00
Andrew Tridgell
4027d61e17 AP_Scheduler: log I2C ISR count 2019-08-26 09:13:39 +10:00
Peter Barker
cc7044b360 AP_Scheduler: include internal error count in PM log message 2019-06-12 10:05:59 +10:00
Andrew Tridgell
4888583e17 AP_Scheduler: use task -3 for wait_for_sample() 2019-05-17 09:00:22 +10:00
Andrew Tridgell
e801821f0c AP_Scheduler: log SPI and I2C counters in PM msg 2019-05-17 08:56:06 +10:00
Andrew Tridgell
49061aae67 AP_Scheduler: use persistent_data for current_task 2019-05-15 15:33:48 +10:00
Peter Barker
85b737db31 AP_Scheduler: add floating point specifier on constant 2019-04-05 23:04:17 -07:00
Tom Pittenger
e9bb6a7d69 AP_Scheduler: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
82f8a7fa1b AP_Scheduler: include internal errors in dataflash PM message 2019-03-21 21:34:33 +11:00
Tom Pittenger
155a1b7ec7 AP_Scheduler: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
7d52746267 AP_Scheduler: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
Peter Barker
01e0c03a12 AP_Scheduler: add singleton 2018-06-15 08:01:22 +10:00
Peter Barker
2d4d99e836 AP_Scheduler: remove unused log_dropped variable 2018-05-15 08:35:05 +09:00
Andrew Tridgell
ce5db7b813 AP_Scheduler: fixed use of sqrt() 2018-05-07 11:43:23 +10:00
Andrew Tridgell
99884c89c9 AP_Scheduler: fixed build warning 2018-05-07 11:43:23 +10:00
Peter Barker
c4ea83177f AP_Scheduler: remove unused ins error count logging 2018-04-04 14:21:20 +01:00
Peter Barker
d5c57d949b AP_Scheduler: eliminate goto update_spare_ticks 2018-03-22 10:01:45 +11:00
Peter Barker
badfde6f18 AP_Scheduler: use continue instead of nested-if (NFC) 2018-03-22 10:01:45 +11:00
Peter Barker
224ea50260 AP_Scheduler: continue in place of nested if (NFC) 2018-03-22 10:01:45 +11:00
Mark Whitehorn
919383a739 AP_Scheduler: add load_average() to PM log message 2018-02-21 23:53:08 +10:00
Andrew Tridgell
6cc007598e AP_Scheduler: initialise _last_loop_time_s in init() 2018-02-13 17:15:05 +11:00
Andrew Tridgell
8907cb3b23 AP_Scheduler: time in seconds should be a float 2018-02-13 17:15:05 +11:00
Peter Barker
8288198ac8 AP_Scheduler: force single-precision floating point calculations 2018-02-13 17:15:05 +11:00
Andrew Tridgell
491715bec7 AP_Scheduler: added get_last_loop_time_s() 
this gives compatibility with previous G_Dt in copter
 2018-02-13 17:15:05 +11:00
Andrew Tridgell
f436901517 AP_Scheduler: fixed perf info to match previous behaviour 2018-02-13 17:15:05 +11:00
Andrew Tridgell
e0c9d9b592 AP_Scheduler: fixed loop time available 2018-02-13 17:15:05 +11:00
Andrew Tridgell
24d6493453 AP_Scheduler: make loop times cover INS wait_for_sample 
this matches past behaviour, and gives much more useful information to
a user wanting to know if their board it meeting its desired loop rate
 2018-02-13 17:15:05 +11:00
Andrew Tridgell
434c3fffc7 AP_Scheduler: fixed filtered loop time 2018-02-13 17:15:05 +11:00
Andrew Tridgell
620d6ab4b8 AP_Scheduler: fixed merge issues 2018-02-13 17:15:05 +11:00
Peter Barker
73c0905b5e AP_Scheduler: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
4672e9d4eb AP_Scheduler: resolve debug name conflict 2018-02-13 17:15:05 +11:00
Peter Barker
d3c1b720c6 AP_Scheduler: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
d151b27e92 AP_Scheduler: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
baa6e04854 AP_Scheduler: change loop time to remove sleeping in wait_for_sample 2018-02-13 17:15:05 +11:00
Peter Barker
4909000441 AP_Scheduler: implement loop() 2018-02-13 17:15:05 +11:00
Peter Barker
e713802c24 AP_Scheduler: add accessor for tick counter 2018-02-13 17:15:05 +11:00
Peter Barker
ae9d4d514d AP_Scheduler: PerfInfo: allow specification of loop rate 2018-02-13 17:15:05 +11:00
Peter Barker
d1781532d4 AP_Scheduler: PerfInfo: add pragma-once to header 2018-02-13 17:15:05 +11:00
Andrew Tridgell
b3ed8fd3f9 AP_Scheduler: scale perf_info with loop rate 
this allows it to be used for a wide range of loop rates
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
8dcf89b2b7 AP_Scheduler: put scheduler debug on console 2018-02-08 17:36:33 +11:00
Andrew Tridgell
8b0e9bcff4 AP_Scheduler: use pre-computed loop constants 
this prevents changing the loop rate without a reboot. Too many
subsystems rely on a consistent loop rate to allow it to be changed
 2018-01-20 15:35:58 +11:00
Peter Barker
f2242e07db AP_Scheduler: remove memoisation in loop_period_s() 2018-01-20 15:35:58 +11:00
Peter Barker
a6ac37d0ba AP_Scheduler: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Andrew Tridgell
44dd079cb9 AP_Scheduler: allow for loop rates above 400Hz 
with ChibiOS we can run copter at 1KHz with no scheduling misses. This
small PR allows that to be configured.
 2018-01-20 10:40:37 +11:00
Andrew Tridgell
580af4a69a AP_Scheduler: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker
fd543fce6d AP_Scheduler: create AP::PerfInfo class 2017-11-16 15:31:53 +00:00
Peter Barker
5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00