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px4_work_queue: directly support SITL lockstep

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- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
 - per workqueue register a lockstep component whenever a work item is
added (if not already registered)
 - once the work queue is empty unregister component
This commit is contained in:
Daniel Agar
2021-01-03 21:41:08 -05:00
committed by Lorenz Meier
parent 8c71ecd97e
commit 98cff94702
10 changed files with 24 additions and 61 deletions
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12
src/modules/ekf2/EKF2.cpp
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@@ -194,10 +194,6 @@ EKF2::EKF2(int instance, const px4::wq_config_t &config, int imu, int mag, bool
EKF2::~EKF2()
{
if (!_multi_mode) {
px4_lockstep_unregister_component(_lockstep_component);
}
perf_free(_ecl_ekf_update_perf);
perf_free(_ecl_ekf_update_full_perf);
}
@@ -468,14 +464,6 @@ void EKF2::Run()
// publish ekf2_timestamps
_ekf2_timestamps_pub.publish(ekf2_timestamps);
if (!_multi_mode) {
if (_lockstep_component == -1) {
_lockstep_component = px4_lockstep_register_component();
}
px4_lockstep_progress(_lockstep_component);
}
}
}