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43 Commits

Author SHA1 Message Date
Andrew Tridgell 79acaeaef1 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.
 2019-09-19 18:25:20 +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
Tom Pittenger 155a1b7ec7 AP_Scheduler: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker 01e0c03a12 AP_Scheduler: add singleton 2018-06-15 08:01:22 +10:00
Andrew Tridgell 8907cb3b23 AP_Scheduler: time in seconds should be a float 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 e0c9d9b592 AP_Scheduler: fixed loop time available 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 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
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 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
Lucas De Marchi d3e12eb899 AP_Scheduler: add static create method 2017-09-26 03:01:21 +01:00
Peter Barker b445313bf1 AP_Scheduler: remove loop-period argument from load_average 
This now comes from a parameter rather than being hard-set
in the vehicle code

Also adds a method returning the max loop period based on the
loop rate
 2017-08-01 19:39:27 +01:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
murata bb1a787852 AP_Scheduler: To add a comment to _loop_rate_hz variable. 2016-10-16 00:02:40 -07:00
murata 7721290160 AP_Scheduler:time_available value type invalid uint16_t to valid uint32_t. 2016-07-25 20:18:16 -03:00
Andrew Tridgell ced4cce358 AP_Scheduler: added optional perf counters at SCHED_DEBUG >= 4 2016-04-21 16:45:02 +10:00
Lucas De Marchi f5437f30ac AP_Scheduler: replace header guard with pragma once 2016-02-18 14:52:35 -02:00
Andrew Tridgell 1b1be7e4a2 AP_Scheduler: switch to Hz based scheduler config 2015-12-27 14:57:06 +09:00
Gustavo Jose de Sousa 8fe466ce27 AP_Scheduler: add initializer for task field "name" 
We use define it as an empty macro if on AVR board.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa 8018748fe2 AP_Scheduler: add field "name" to task structure for logging purposes 
That field will be useful for logging as it is easier to know what task a log
is related to by using the task's name rather than using the number.
 2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa c04b984e6c AP_Scheduler: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:23 +10:00
Andrew Tridgell dd691ae75c AP_Scheduler: all vehicles now use functors 2015-06-01 15:18:31 +10:00
Andrew Tridgell 7db9da6545 AP_Scheduler: removed delegate ptr handling 
no longer needed
 2015-05-26 14:33:30 +10:00
Lucas De Marchi 78b00784fb AP_Scheduler: allow to use functor 2015-05-26 13:46:50 +10:00
Lucas De Marchi 5dfb3ed70c AP_Scheduler: replace tabs with spaces 2015-05-26 13:46:49 +10:00
Andrew Tridgell 0847bd2608 AP_Scheduler: use APM_BUILD_DELEGATES 2015-05-21 07:48:51 +10:00
Andrew Tridgell 1237772479 AP_Scheduler: support member functions for rover 2015-05-21 07:48:46 +10:00
Andrew Tridgell 67f5ba0b94 AP_Scheduler: added current_task static 
will be used to debug stuck tasks on PX4
 2014-07-03 09:09:11 +10:00
Andrew Tridgell dd4b9275fd AP_Scheduler: improved the accuracy of the scheduling code 
prevent accumulated micros() errors in run()
 2013-10-10 14:14:39 +11:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell a192b9ee46 AP_Scheduler: added load_average() function 
useful to give a load average in SYS_STATUS mavlink message
 2013-07-26 16:07:00 +10:00
Andrew Tridgell 1cb64dacf9 AP_Scheduler: expose debug variable 2013-01-12 12:06:55 +11:00
Andrew Tridgell 7ddadcf34e AP_Scheduler: added new scheduler library 
this will be used for main loop control
 2013-01-12 12:02:57 +11:00