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vmount: rate-limit the update of the outputs

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This avoids a busy-loop if the input is listening for vehicle commands and
the output publishes vehicle commands.
This commit is contained in:
Beat Küng
2017-08-10 10:40:57 +02:00
parent 923cdbcbfb
commit 73d23742ea
1 changed files with 13 additions and 7 deletions
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20
src/drivers/vmount/vmount.cpp
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@@ -222,6 +222,7 @@ static int vmount_thread_main(int argc, char *argv[])
g_thread_data = &thread_data;
int last_active = 0;
hrt_abstime last_output_update = 0;
while (!thread_should_exit) {
@@ -342,16 +343,21 @@ static int vmount_thread_main(int argc, char *argv[])
}
}
//update output
int ret = thread_data.output_obj->update(control_data);
hrt_abstime now = hrt_absolute_time();
if (now - last_output_update > 10000) { // rate-limit the update of outputs
last_output_update = now;
if (ret) {
PX4_ERR("failed to write output (%i)", ret);
break;
//update output
int ret = thread_data.output_obj->update(control_data);
if (ret) {
PX4_ERR("failed to write output (%i)", ret);
break;
}
thread_data.output_obj->publish();
}
thread_data.output_obj->publish();
} else {
//wait for parameter changes. We still need to wake up regularily to check for thread exit requests
usleep(1e6);