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Code Issues Releases Activity

OP-1309 some CPU and memory optimizations to get it to run on CC

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This commit is contained in:
Corvus Corax 2014-04-29 18:17:29 +02:00
parent 1632eeb58f
commit 59bdab697a
6 changed files with 30 additions and 13 deletions
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6
flight/modules/Stabilization/cruisecontrol.c
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@ -38,6 +38,12 @@ static float cruisecontrol_factor = 1.0f;
void cruisecontrol_compute_factor(AttitudeStateData *attitude)
{
// safe CPU, only execute every 8th attitude update
static uint8_t cpusafer = 0;
if (cpusafer++ % (8 / OUTERLOOP_SKIPCOUNT)) {
return;
}
float angleCosine;
// get attitude state and calculate angle

11
flight/modules/Stabilization/inc/stabilization.h
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@ -68,6 +68,17 @@ extern StabilizationData stabSettings;
#define AXES 4
#define FAILSAFE_TIMEOUT_MS 30
#ifndef PIOS_STABILIZATION_STACK_SIZE
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES PIOS_STABILIZATION_STACK_SIZE
#endif
// must be same as eventdispatcher to avoid needing additional mutexes
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
// outer loop only executes every 4th uavobject update to safe CPU
#define OUTERLOOP_SKIPCOUNT 4
#endif // STABILIZATION_H

10
flight/modules/Stabilization/innerloop.c
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@ -50,9 +50,7 @@
#include <cruisecontrol.h>
// Private constants
#define STACK_SIZE_BYTES 256
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_CRITICAL
#define UPDATE_EXPECTED (1.0f / 666.0f)
@ -116,12 +114,12 @@ static void stabilizationInnerloopTask()
if (stabSettings.monitor.rateupdates > -64) {
stabSettings.monitor.rateupdates--;
}
if (stabSettings.monitor.rateupdates < -3) {
// warning if rate loop skipped more than 2 beats
if (stabSettings.monitor.rateupdates < -(2 * OUTERLOOP_SKIPCOUNT)) {
// warning if rate loop skipped more than 2 execution
warn = true;
}
if (stabSettings.monitor.rateupdates < -7) {
// error if rate loop skipped more than 7 beats
if (stabSettings.monitor.rateupdates < -(4 * OUTERLOOP_SKIPCOUNT)) {
// error if rate loop skipped more than 4 executions
error = true;
}
// check if gyro keeps updating

12
flight/modules/Stabilization/outerloop.c
View File

@ -49,9 +49,7 @@
#include <CoordinateConversions.h>
// Private constants
#define STACK_SIZE_BYTES 256
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define UPDATE_EXPECTED (1.0f / 666.0f)
@ -260,10 +258,14 @@ static void stabilizationOuterloopTask()
static void AttitudeStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
// this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
AttitudeStateGet(&attitude);
// to reduce CPU utilisation, outer loop is not executed every state update
static uint8_t cpusafer = 0;
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
if ((cpusafer++ % OUTERLOOP_SKIPCOUNT) == 0) {
// this does not need mutex protection as both eventdispatcher and stabi run in same callback task!
AttitudeStateGet(&attitude);
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
}
}
/**

2
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
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@ -160,7 +160,7 @@
#define PIOS_ACTUATOR_STACK_SIZE 820
#define PIOS_MANUAL_STACK_SIZE 635
#define PIOS_RECEIVER_STACK_SIZE 620
#define PIOS_STABILIZATION_STACK_SIZE 780
#define PIOS_STABILIZATION_STACK_SIZE 400
#ifdef DIAG_TASKS
#define PIOS_SYSTEM_STACK_SIZE 740

2
shared/uavobjectdefinition/stabilizationstatus.xml
View File

@ -22,7 +22,7 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="5000"/>
<telemetryflight acked="false" updatemode="periodic" period="5000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>