From 5d3d17d025fa860879b145a99ec80afb7db38edc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 17 Oct 2012 10:38:23 +0200 Subject: [PATCH] Increased priority of MAVLink receiver thread --- apps/mavlink/mavlink.c | 2 +- apps/mavlink/mavlink_receiver.c | 5 +++++ apps/multirotor_att_control/multirotor_attitude_control.c | 2 +- 3 files changed, 7 insertions(+), 2 deletions(-) diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index e893ea951c..075dc9e3b7 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1,4 +1,4 @@ -/**************************************************************************** + /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index ad46c3edea..060bff2b46 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -487,6 +487,11 @@ receive_start(int uart) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); + + struct sched_param param; + param.sched_priority = SCHED_PRIORITY_MAX - 40; + (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + pthread_attr_setstacksize(&receiveloop_attr, 2048); pthread_t thread; diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 00b759d73a..33cab5cc9d 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT)*1/10.0f; /* control yaw rate */ //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; - rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body)); + rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body));