Orb poll hrt #713
Orb poll hrt #713
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Thanks for checking it out! This is still WIP, there is some instability when stopping mavlink. I will also change at least the following:
This is now an initial version to check the performance (which improves already significantly). When complete, I will mark it as ready for review, but any comments are of course welcome! |
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I still removed the orb polling change from this PR; it is no longer related and better not to introduce other changes than this mavlink poll |
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Now tested on desk and ready. A bit hard to review as most of stuff is reverts, better to just check the actual implementation commits |
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I just realised a bug in the code; the interval of -1 (unlimited) is not handled. I need to revisit the code to manage that. Also there are couple of unused functions. |
jlaitine
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Sleeping depends on the systick, which prevents using slower than 1ms systicks. Using HRT provides as performant way of handling the mavlink polling and is also more accurate. Co-authored-by: Jari Nippula <[email protected]> Signed-off-by: Jukka Laitinen <[email protected]>
Only use the needed HRT intervals, i.e. the shortest one by which all the other ones are evenly divisible with. Signed-off-by: Jukka Laitinen <[email protected]>
Replace orb polling with much simpler way to trigger periodic updates with HRT and wakeup the mavlink using HRT timer.