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add load_mon support for Qurt platform (#22883) 

- Added check in commander to see if CPU load monitoring has been disabled before signalling overload
This commit is contained in:
Eric Katzfey 2024-03-13 18:33:58 -07:00 committed by GitHub
parent ad50afda10
commit ae947513d7
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5 changed files with 11 additions and 4 deletions
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1
boards/modalai/voxl2/default.px4board
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@ -11,7 +11,6 @@ CONFIG_DRIVERS_VOXL2_IO=y
CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_COMMANDER=y
CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_CONTROL_ALLOCATOR=y
CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_DATAMAN=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_LOGGER=y CONFIG_MODULES_LOGGER=y
CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MAVLINK=y
CONFIG_MODULES_MUORB_APPS=y CONFIG_MODULES_MUORB_APPS=y

1
boards/modalai/voxl2/target/voxl-px4-hitl-start
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@ -76,7 +76,6 @@ qshell flight_mode_manager start
# Start all of the processing modules on the applications processor # Start all of the processing modules on the applications processor
dataman start dataman start
navigator start navigator start
load_mon start
# Start microdds_client for ros2 offboard messages from agent over localhost # Start microdds_client for ros2 offboard messages from agent over localhost
microdds_client start -t udp -h 127.0.0.1 -p 8888 microdds_client start -t udp -h 127.0.0.1 -p 8888

1
boards/modalai/voxl2/target/voxl-px4-start
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@ -207,7 +207,6 @@ qshell flight_mode_manager start
# Start all of the processing modules on the applications processor # Start all of the processing modules on the applications processor
dataman start dataman start
navigator start navigator start
load_mon start
# This bridge allows raw data packets to be sent over UART to the ESC # This bridge allows raw data packets to be sent over UART to the ESC
voxl2_io_bridge start voxl2_io_bridge start

9
src/modules/commander/Commander.cpp
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@ -2419,7 +2419,14 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
if (_cpuload_sub.copy(&cpuload)) { if (_cpuload_sub.copy(&cpuload)) {
const float cpuload_percent = cpuload.load * 100.f; const float cpuload_percent = cpuload.load * 100.f;
bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f); bool overload = false;
// Only check CPU load if it hasn't been disabled
if (!(_param_com_cpu_max.get() < FLT_EPSILON)) {
overload = (cpuload_percent > _param_com_cpu_max.get());
}
overload = overload || (cpuload.ram_usage > 0.99f);
if (_overload_start == 0 && overload) { if (_overload_start == 0 && overload) {
_overload_start = time_now_us; _overload_start = time_now_us;

3
src/modules/load_mon/LoadMon.cpp
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@ -229,6 +229,9 @@ void LoadMon::cpuload()
struct mallinfo mem = mallinfo(); struct mallinfo mem = mallinfo();
cpuload.ram_usage = (float)mem.uordblks / mem.arena; cpuload.ram_usage = (float)mem.uordblks / mem.arena;
cpuload.load = 1.f - interval_idletime / interval; cpuload.load = 1.f - interval_idletime / interval;
#elif defined(__PX4_QURT)
cpuload.ram_usage = 0.0f;
cpuload.load = px4muorb_get_cpu_load() / 100.0f;
#endif #endif
cpuload.timestamp = hrt_absolute_time(); cpuload.timestamp = hrt_absolute_time();