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sensors: move to WQ

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Running the sensors module out of the same WQ thread as the estimator, position, and attitude controllers is a bit safer and prevents potential priority and starvation issues. There is a very small increase in latency (~50 us) between sensors and ekf2 execution (on average). This also saves a little bit of memory (~ 3 kB) and cpu (~1-1.5% depending on the board).
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Daniel Agar
2020-03-11 11:34:04 -04:00
committed by GitHub
parent 2b8eb736e1
commit 9cd8bb4f88
3 changed files with 181 additions and 169 deletions
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5
platforms/common/include/px4_platform_common/tasks.h
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@@ -124,11 +124,6 @@ typedef struct {
// wait for the sensor hub if its data is coming from it.
#define SCHED_PRIORITY_ESTIMATOR (PX4_WQ_HP_BASE - 5)
// The sensor hub conditions sensor data. It is not the fastest component
// in the controller chain, but provides easy-to-use data to the more
// complex downstream consumers
#define SCHED_PRIORITY_SENSOR_HUB (PX4_WQ_HP_BASE - 6)
// Position controllers typically are in a blocking wait on estimator data
// so when new sensor data is available they will run last. Keeping them
// on a high priority ensures that they are the first process to be run