forked from Archive/PX4-Autopilot
control_allocator,angular_velocity_controller: run on rate_ctrl wq
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a0e43bca96
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@ -48,8 +48,7 @@ struct wq_config_t {
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namespace wq_configurations
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namespace wq_configurations
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{
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{
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1952, 0}; // PX4 inner loop highest priority
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static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3000, 0}; // PX4 inner loop highest priority
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static constexpr wq_config_t ctrl_alloc{"wq:ctrl_alloc", 9500, 0}; // PX4 control allocation, same priority as rate_ctrl
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static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
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static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
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static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};
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static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};
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@ -44,7 +44,7 @@ using namespace time_literals;
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AngularVelocityController::AngularVelocityController() :
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AngularVelocityController::AngularVelocityController() :
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ModuleParams(nullptr),
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc),
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WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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{
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_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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@ -51,7 +51,7 @@ using namespace time_literals;
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ControlAllocator::ControlAllocator() :
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ControlAllocator::ControlAllocator() :
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ModuleParams(nullptr),
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ModuleParams(nullptr),
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WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc),
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WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
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{
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{
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parameters_updated();
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parameters_updated();
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