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control_allocator: disable backup schedule with lockstep 

The backup schedule triggers updates too early and leads to simulator errors:
ERROR [simulator] poll timeout 0, 22
This commit is contained in:
Beat Küng 2022-05-30 10:41:54 +02:00
parent 132a07f53c
commit 0074894637
1 changed files with 4 additions and 0 deletions
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4
src/modules/control_allocator/ControlAllocator.cpp
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@ -98,7 +98,9 @@ ControlAllocator::init()
return false;
}
#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
ScheduleDelayed(50_ms);
#endif
return true;
}
@ -296,8 +298,10 @@ ControlAllocator::Run()
perf_begin(_loop_perf);
#ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
// Push backup schedule
ScheduleDelayed(50_ms);
#endif
// Check if parameters have changed
if (_parameter_update_sub.updated() && !_armed) {