MAVLink: speed up mavlink processing when disarmed #26024
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this makes for much faster disarmed mavlink processing
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i've fixed it to not change notify rate
it hasn't shown any issues in my testing, likely as we only do this when waiting for IMU sample in main thread (so EKF code is not running) |
IamPete1
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Jan 19, 2024
| set_high_priority(); | ||
| _priority_boosted = true; | ||
| _called_boost = true; | ||
| } | ||
| if (main_thread && !hal.util->get_soft_armed() && usec >= 500) { | ||
| const uint32_t start_us = AP_HAL::micros(); | ||
| call_delay_cb(); |
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I guess the assumption is that this call takes less than 500us? If it does then we spend the time doing something useful rather than sleeping. Why not do the same when armed? Just because we might overrun that 500us?
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This makes AP_Periph firmware load over MAVCAN about 3x faster on plane (with SCHED_LOOP_RATE=50)
It should make other MAVLink processing faster too