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HAL_PX4: changed scheduler priorities

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put sensor priority above main sketch, to prevent occasional blocking
for sensor data
This commit is contained in:
Andrew Tridgell 2013-02-20 11:30:54 +11:00
parent 24826c0c74
commit 02c5c3ec4a
2 changed files with 4 additions and 4 deletions
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4
libraries/AP_HAL_PX4/HAL_PX4_Class.cpp
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@ -149,9 +149,9 @@ static int main_loop(int argc, char **argv)
this ensures a tight loop waiting on a lower priority driver this ensures a tight loop waiting on a lower priority driver
will eventually give up some time for the driver to run. It will eventually give up some time for the driver to run. It
will only ever be called if a loop() call runs for more than will only ever be called if a loop() call runs for more than
1 second 0.1 second
*/ */
hrt_call_after(&loop_overtime_call, 1000000, (hrt_callout)loop_overtime, NULL); hrt_call_after(&loop_overtime_call, 100000, (hrt_callout)loop_overtime, NULL);
loop(); loop();

4
libraries/AP_HAL_PX4/Scheduler.h
View File

@ -12,8 +12,8 @@
#define PX4_SCHEDULER_MAX_TIMER_PROCS 8 #define PX4_SCHEDULER_MAX_TIMER_PROCS 8
#define APM_MAIN_PRIORITY 200 #define APM_MAIN_PRIORITY 180
#define APM_TIMER_PRIORITY 201 #define APM_TIMER_PRIORITY 181
#define APM_IO_PRIORITY 60 #define APM_IO_PRIORITY 60
#define APM_OVERTIME_PRIORITY 10 #define APM_OVERTIME_PRIORITY 10
#define APM_STARTUP_PRIORITY 10 #define APM_STARTUP_PRIORITY 10