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SYS_FMU_TASK: add param to start fmu as task (default=work queue)

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This commit is contained in:
Beat Küng
2017-07-18 16:52:26 +02:00
committed by Lorenz Meier
parent 07b7a153f3
commit 0668d61665
3 changed files with 27 additions and 4 deletions
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2
ROMFS/px4fmu_common/init.d/rc.interface
View File

@@ -157,7 +157,7 @@ then
if [ $MIXER_AUX_FILE != none ] if [ $MIXER_AUX_FILE != none ]
then then
if fmu mode_${AUX_MODE} if fmu mode_${AUX_MODE} $FMU_ARGS
then then
# Append aux mixer to main device # Append aux mixer to main device
if [ $OUTPUT_MODE == hil ] if [ $OUTPUT_MODE == hil ]

12
ROMFS/px4fmu_common/init.d/rcS
View File

@@ -190,6 +190,7 @@ then
set MK_MODE none set MK_MODE none
set FMU_MODE pwm set FMU_MODE pwm
set AUX_MODE pwm set AUX_MODE pwm
set FMU_ARGS ""
set MAVLINK_F default set MAVLINK_F default
set MAVLINK_COMPANION_DEVICE /dev/ttyS2 set MAVLINK_COMPANION_DEVICE /dev/ttyS2
set EXIT_ON_END no set EXIT_ON_END no
@@ -198,6 +199,11 @@ then
set USE_IO yes set USE_IO yes
set LOGGER_BUF 16 set LOGGER_BUF 16
if param compare SYS_FMU_TASK 1
then
set FMU_ARGS "-t"
fi
# #
# Set USE_IO flag # Set USE_IO flag
# #
@@ -535,7 +541,7 @@ then
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ] if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then then
if fmu mode_$FMU_MODE if fmu mode_$FMU_MODE $FMU_ARGS
then then
else else
echo "FMU start failed" >> $LOG_FILE echo "FMU start failed" >> $LOG_FILE
@@ -604,7 +610,7 @@ then
else else
if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ] if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]
then then
if fmu mode_${FMU_MODE} if fmu mode_${FMU_MODE} $FMU_ARGS
then then
else else
echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE echo "FMU mode_${FMU_MODE} start failed" >> $LOG_FILE
@@ -1034,7 +1040,7 @@ then
then then
# On Pixracer use Telem 2 port (TL2). # On Pixracer use Telem 2 port (TL2).
snapdragon_rc_pwm start -d /dev/ttyS2 snapdragon_rc_pwm start -d /dev/ttyS2
fmu mode_pwm4 fmu mode_pwm4 $FMU_ARGS
fi fi
pwm failsafe -c 1234 -p 900 pwm failsafe -c 1234 -p 900

17
src/modules/systemlib/system_params.c
View File

@@ -72,10 +72,27 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
* @boolean * @boolean
* @min 0 * @min 0
* @max 1 * @max 1
* @reboot_required true
* @group System * @group System
*/ */
PARAM_DEFINE_INT32(SYS_USE_IO, 1); PARAM_DEFINE_INT32(SYS_USE_IO, 1);
/**
* Run the FMU as a task to reduce latency
*
* If true, the FMU will run in a separate task instead of on the work queue.
* Set this if low latency is required, for example for racing.
*
* This is a trade-off between RAM usage and latency: running as a task, it
* requires a separate stack and directly polls on the control topics, whereas
* running on the work queue, it runs at a fixed update rate.
*
* @boolean
* @reboot_required true
* @group System
*/
PARAM_DEFINE_INT32(SYS_FMU_TASK, 0);
/** /**
* Set restart type * Set restart type
* *