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MAVLink: speed up mavlink processing when disarmed #26024

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MAVLink: speed up mavlink processing when disarmed #26024

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316314a
AP_Vehicle: call delay callback more rapidly when disarmed
tridge Jan 18, 2024
5aad466
HAL_ChibiOS: allow delay callback in delay_microseconds_boost()
tridge Jan 18, 2024
5af2621
HAL_SITL: added delay_microseconds_boost()
tridge Jan 18, 2024
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12 changes: 11 additions & 1 deletion libraries/AP_HAL_ChibiOS/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -196,11 +196,21 @@ void Scheduler::boost_end(void)
*/
void Scheduler::delay_microseconds_boost(uint16_t usec)
{
if (!_priority_boosted && in_main_thread()) {
const bool main_thread = in_main_thread();
if (!_priority_boosted && main_thread) {
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?

const uint32_t dt_us = AP_HAL::micros() - start_us;
if (dt_us >= usec) {
return;
}
usec -= dt_us;
}
delay_microseconds(usec); //Suspends Thread for desired microseconds
}

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17 changes: 17 additions & 0 deletions libraries/AP_HAL_SITL/Scheduler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,23 @@ void Scheduler::delay_microseconds(uint16_t usec)
} while (true);
}

/*
delay from AP_InertialSensor wait for IMU sample
*/
void Scheduler::delay_microseconds_boost(uint16_t usec)
{
if (in_main_thread() && !hal.util->get_soft_armed() && usec >= 500) {
const uint32_t start_us = AP_HAL::micros();
call_delay_cb();
const uint32_t dt_us = AP_HAL::micros() - start_us;
if (dt_us >= usec) {
return;
}
usec -= dt_us;
}
delay_microseconds(usec);
}

void Scheduler::delay(uint16_t ms)
{
uint32_t start = AP_HAL::millis();
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1 change: 1 addition & 0 deletions libraries/AP_HAL_SITL/Scheduler.h
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@ class HALSITL::Scheduler : public AP_HAL::Scheduler {
void init() override;
void delay(uint16_t ms) override;
void delay_microseconds(uint16_t us) override;
void delay_microseconds_boost(uint16_t us) override;

void register_timer_process(AP_HAL::MemberProc) override;
void register_io_process(AP_HAL::MemberProc) override;
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12 changes: 8 additions & 4 deletions libraries/AP_Vehicle/AP_Vehicle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -596,7 +596,7 @@ void AP_Vehicle::scheduler_delay_callback()
return;
#endif

static uint32_t last_1hz, last_50hz, last_5s;
static uint32_t last_1hz, last_mav_ms, last_notify_ms, last_5s;

#if HAL_LOGGING_ENABLED
AP_Logger &logger = AP::logger();
Expand All @@ -611,15 +611,19 @@ void AP_Vehicle::scheduler_delay_callback()
GCS_SEND_MESSAGE(MSG_HEARTBEAT);
GCS_SEND_MESSAGE(MSG_SYS_STATUS);
}
if (tnow - last_50hz > 20) {
last_50hz = tnow;
const uint32_t mav_period_ms = hal.util->get_soft_armed() ? 20 : 1;
if (tnow - last_mav_ms > mav_period_ms) {
last_mav_ms = tnow;
#if HAL_GCS_ENABLED
gcs().update_receive();
gcs().update_send();
#endif
}
if (tnow - last_notify_ms > 20) {
last_notify_ms = tnow;
_singleton->notify.update();
}
if (tnow - last_5s > 5000) {
if (tnow - last_5s > 5000 && !hal.scheduler->is_system_initialized()) {
last_5s = tnow;
if (AP_BoardConfig::in_config_error()) {
GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Config Error: fix problem then reboot");
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