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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 10:38:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 10:38:23 +0200 |
| commit | 5d3d17d025fa860879b145a99ec80afb7db38edc (patch) | |
| tree | 3e2e5084612f510160d27cfa4300f7b6b95c19a5 | |
| parent | 32e586d4b7561d1018e29aa59f572c3bac625024 (diff) | |
| download | px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.tar.gz px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.tar.bz2 px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.zip | |
Increased priority of MAVLink receiver thread
| -rw-r--r-- | apps/mavlink/mavlink.c | 2 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 5 | ||||
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 2 |
3 files changed, 7 insertions, 2 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index e893ea951..075dc9e3b 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1,4 +1,4 @@ -/**************************************************************************** + /**************************************************************************** * * Copyright (C) 2012 PX4 Development Team. All rights reserved. * Author: @author Lorenz Meier <lm@inf.ethz.ch> diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index ad46c3ede..060bff2b4 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -487,6 +487,11 @@ receive_start(int uart) { pthread_attr_t receiveloop_attr; pthread_attr_init(&receiveloop_attr); + + struct sched_param param; + param.sched_priority = SCHED_PRIORITY_MAX - 40; + (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); + pthread_attr_setstacksize(&receiveloop_attr, 2048); pthread_t thread; diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index 00b759d73..33cab5cc9 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT)*1/10.0f; /* control yaw rate */ //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; - rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body)); + rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body)); |