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Code Issues Releases Activity

OP-1227 Fix high CPU usage: Change gyro oversampling to 46 (400Hz update rate) to lessen the cpu load and jitter due accel rate mismatch

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This commit is contained in:
Alessio Morale 2014-06-08 22:14:06 +02:00
parent 7acb0ad385
commit 52c1d69c19
3 changed files with 3 additions and 4 deletions
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3
flight/modules/Attitude/attitude.c
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@ -242,7 +242,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
PIOS_Assert(gyro_queue != NULL);
PIOS_ADC_SetQueue(gyro_queue);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
PIOS_ADC_Config(46);
#endif
}
// Force settings update to make sure rotation loaded
@ -401,7 +401,6 @@ static int32_t updateSensors(AccelStateData *accelState, GyroStateData *gyros)
accelState->y = accel[1];
accelState->z = accel[2];
}
if (trim_requested) {
if (trim_samples >= MAX_TRIM_FLIGHT_SAMPLES) {
trim_requested = false;

2
flight/targets/boards/coptercontrol/board_hw_defs.c
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@ -455,7 +455,7 @@ static const struct pios_adc_cfg pios_adc_cfg = {
.flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
.init = {
.NVIC_IRQChannel = DMA1_Channel1_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},

2
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -210,7 +210,7 @@ extern uint32_t pios_com_hkosd_id;
// PCKL2 = HCLK / 16
// ADCCLK = PCLK2 / 2
#define PIOS_ADC_RATE (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
#define PIOS_ADC_MAX_OVERSAMPLING 36
#define PIOS_ADC_MAX_OVERSAMPLING 48
#define PIOS_ADC_TEMPERATURE_PIN 0