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Simulation: Set scheduling policy RR for lockstep 

This should ensure that all processes do still run at full load.
This commit is contained in:
Lorenz Meier 2019-12-24 12:41:51 +01:00
parent 663436fd47
commit 742b1839d5
2 changed files with 9 additions and 0 deletions
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5
platforms/common/px4_work_queue/WorkQueueManager.cpp
View File

@ -265,7 +265,12 @@ WorkQueueManagerRun(int, char **)
#ifndef __PX4_QURT
// schedule policy FIFO
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_RR);
#else
int ret_setschedpolicy = pthread_attr_setschedpolicy(&attr, SCHED_FIFO);
#endif
if (ret_setschedpolicy != 0) {
PX4_ERR("failed to set sched policy SCHED_FIFO (%i)", ret_setschedpolicy);

4
platforms/posix/src/px4/common/px4_posix_tasks.cpp
View File

@ -204,7 +204,11 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
return (rv < 0) ? rv : -rv;
}
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
rv = pthread_attr_setschedpolicy(&attr, SCHED_RR);
#else
rv = pthread_attr_setschedpolicy(&attr, scheduler);
#endif
if (rv != 0) {
PX4_ERR("px4_task_spawn_cmd: failed to set sched policy");