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Code Issues Releases Activity

OP-1227 Fix high CPU usage: Some minor to Actuator module.

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This commit is contained in:
Alessio Morale 2014-06-08 22:39:16 +02:00
parent 52c1d69c19
commit 8710ff4070
2 changed files with 25 additions and 12 deletions
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33
flight/modules/Actuator/actuator.c
View File

@ -45,6 +45,12 @@
#include "cameradesired.h"
#include "manualcontrolcommand.h"
#include "taskinfo.h"
#undef PIOS_INCLUDE_INSTRUMENTATION
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
static int8_t counter;
// Counter 0xAC700001 total Actuator body execution time(excluding queue waits etc).
#endif
// Private constants
#define MAX_QUEUE_SIZE 2
@ -106,7 +112,6 @@ int32_t ActuatorStart()
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
#endif
return 0;
}
@ -173,6 +178,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
float throttleDesired;
float collectiveDesired;
#ifdef PIOS_INCLUDE_INSTRUMENTATION
counter = PIOS_Instrumentation_CreateCounter(0xAC700001);
#endif
/* Read initial values of ActuatorSettings */
ActuatorSettingsData actuatorSettings;
@ -199,7 +207,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
// Wait until the ActuatorDesired object is updated
uint8_t rc = xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS);
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeStart(counter);
#endif
/* Process settings updated events even in timeout case so we always act on the latest settings */
if (actuator_settings_updated) {
actuator_settings_updated = false;
@ -449,6 +459,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
ActuatorCommandSet(&command);
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_TimeEnd(counter);
#endif
}
}
@ -482,17 +495,17 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
result += accumulator;
if (period > 0.0f) {
if (accumulator > 0.0f) {
float filter = mixerSettings->AccelTime / period;
if (filter < 1) {
filter = 1;
float invFilter = period / mixerSettings->AccelTime;
if (invFilter > 1) {
invFilter = 1;
}
accumulator -= accumulator / filter;
accumulator -= accumulator * invFilter;
} else {
float filter = mixerSettings->DecelTime / period;
if (filter < 1) {
filter = 1;
float invFilter = period / mixerSettings->DecelTime;
if (invFilter > 1) {
invFilter = 1;
}
accumulator -= accumulator / filter;
accumulator -= accumulator * invFilter;
}
}
filterAccumulator[index] = accumulator;

4
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -56,8 +56,8 @@
#define PIOS_INCLUDE_INITCALL
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_TASK_MONITOR
// #define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 3
#define PIOS_INCLUDE_INSTRUMENTATION
#define PIOS_INSTRUMENTATION_MAX_COUNTERS 5
/* PIOS hardware peripherals */
#define PIOS_INCLUDE_IRQ