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Code Issues Releases Activity

Merge branch 'amorale/OP-1188_stabilization_stack_optimization' into rel-14.01

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This commit is contained in:
Alessio Morale 2014-01-22 20:27:25 +01:00
commit 99e9009c14
2 changed files with 10 additions and 15 deletions
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23
flight/modules/Stabilization/stabilization.c
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@ -194,7 +194,6 @@ MODULE_INITCALL(StabilizationInitialize, StabilizationStart);
static void stabilizationTask(__attribute__((unused)) void *parameters) static void stabilizationTask(__attribute__((unused)) void *parameters)
{ {
UAVObjEvent ev; UAVObjEvent ev;
uint32_t timeval = PIOS_DELAY_GetRaw(); uint32_t timeval = PIOS_DELAY_GetRaw();
ActuatorDesiredData actuatorDesired; ActuatorDesiredData actuatorDesired;
@ -757,13 +756,17 @@ static float stab_powf(float x, uint8_t p)
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
StabilizationBankData bank, oldBank;
StabilizationBankGet(&oldBank);
if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) { if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) {
return; return;
} }
if ((ev) && ((settings.FlightModeMap[cur_flight_mode] == 0 && ev->obj != StabilizationSettingsBank1Handle()) ||
(settings.FlightModeMap[cur_flight_mode] == 1 && ev->obj != StabilizationSettingsBank2Handle()) ||
(settings.FlightModeMap[cur_flight_mode] == 2 && ev->obj != StabilizationSettingsBank3Handle()) ||
settings.FlightModeMap[cur_flight_mode] > 2)) {
return;
}
StabilizationBankData bank;
switch (settings.FlightModeMap[cur_flight_mode]) { switch (settings.FlightModeMap[cur_flight_mode]) {
case 0: case 0:
@ -777,16 +780,8 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
case 2: case 2:
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank); StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank);
break; break;
default:
memset(&bank, 0, sizeof(StabilizationBankDataPacked));
// return; //bank number is invalid. All we can do is ignore it.
}
// Need to do this to prevent an infinite loop
if (memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) {
StabilizationBankSet(&bank);
} }
StabilizationBankSet(&bank);
} }
static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)

2
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -162,7 +162,7 @@
#endif #endif
#define PIOS_STABILIZATION_STACK_SIZE 790 #define PIOS_STABILIZATION_STACK_SIZE 790
#define PIOS_TELEM_STACK_SIZE 540 #define PIOS_TELEM_STACK_SIZE 540
#define PIOS_EVENTDISPATCHER_STACK_SIZE 150 #define PIOS_EVENTDISPATCHER_STACK_SIZE 160
/* This can't be too high to stop eventdispatcher thread overflowing */ /* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10 #define PIOS_EVENTDISAPTCHER_QUEUE 10