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control_allocator,angular_velocity_controller: run on rate_ctrl wq

This commit is contained in:
Beat Küng 2021-11-11 11:06:51 +01:00 committed by Daniel Agar
parent a0e43bca96
commit bcba3dfe52
3 changed files with 3 additions and 4 deletions
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3
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
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@ -48,8 +48,7 @@ struct wq_config_t {
namespace wq_configurations
{
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1952, 0}; // PX4 inner loop highest priority
static constexpr wq_config_t ctrl_alloc{"wq:ctrl_alloc", 9500, 0}; // PX4 control allocation, same priority as rate_ctrl
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 3000, 0}; // PX4 inner loop highest priority
static constexpr wq_config_t SPI0{"wq:SPI0", 2336, -1};
static constexpr wq_config_t SPI1{"wq:SPI1", 2336, -2};

2
src/modules/angular_velocity_controller/AngularVelocityController.cpp
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@ -44,7 +44,7 @@ using namespace time_literals;
AngularVelocityController::AngularVelocityController() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;

2
src/modules/control_allocator/ControlAllocator.cpp
View File

@ -51,7 +51,7 @@ using namespace time_literals;
ControlAllocator::ControlAllocator() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::ctrl_alloc),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
parameters_updated();