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HAL_SITL: run nanf fill every 10 loops

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this saves a lot of cpu while still giving protection
it reduces time to run a test replay from 8.1s to 4.1s
This commit is contained in:
Andrew Tridgell 2020-11-09 09:43:41 +11:00
parent 690af580c9
commit c321025725
1 changed files with 6 additions and 1 deletions
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7
libraries/AP_HAL_SITL/HAL_SITL_Class.cpp
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@ -234,13 +234,18 @@ void HAL_SITL::run(int argc, char * const argv[], Callbacks* callbacks) const
setup_signal_handlers(); setup_signal_handlers();
uint32_t last_watchdog_save = AP_HAL::millis(); uint32_t last_watchdog_save = AP_HAL::millis();
uint8_t fill_count = 0;
while (!HALSITL::Scheduler::_should_reboot) { while (!HALSITL::Scheduler::_should_reboot) {
if (HALSITL::Scheduler::_should_exit) { if (HALSITL::Scheduler::_should_exit) {
::fprintf(stderr, "Exitting\n"); ::fprintf(stderr, "Exitting\n");
exit(0); exit(0);
} }
fill_stack_nan(); if (fill_count++ % 10 == 0) {
// only fill every 10 loops. This still gives us a lot of
// protection, but saves a lot of CPU
fill_stack_nan();
}
callbacks->loop(); callbacks->loop();
HALSITL::Scheduler::_run_io_procs(); HALSITL::Scheduler::_run_io_procs();