Lorenz Meier
8 years ago
3 changed files with 53 additions and 95 deletions
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/****************************************************************************
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* |
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* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#pragma once |
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#include <px4_tasks.h> |
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/**
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* @file scheduling_priorities.h |
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* |
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* Default schedulign priorities for standard system components |
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*/ |
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// SCHED_PRIORITY_MAX
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// Fast drivers - they need to run as quickly as possible to minimize control
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// latency.
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#define SCHED_PRIORITY_FAST_DRIVER (SCHED_PRIORITY_MAX - 0) |
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// Attitude controllers typically are in a blocking wait on driver data
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// they should be the first to run on an update, using the current sensor
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// data and the *previous* attitude reference from the position controller
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// which typically runs at a slower rate
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#define SCHED_PRIORITY_ATTITUDE_CONTROL (SCHED_PRIORITY_MAX - 4) |
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// Actuator outputs should run before right after the attitude controller
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// updated
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#define SCHED_PRIORITY_ACTUATOR_OUTPUTS (SCHED_PRIORITY_MAX - 4) |
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// Position controllers typically are in a blocking wait on estimator data
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// so when new sensor data is available they will run last. Keeping them
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// on a high priority ensures that they are the first process to be run
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// when the estimator updates.
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#define SCHED_PRIORITY_POSITION_CONTROL (SCHED_PRIORITY_MAX - 5) |
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// Estimators should run after the attitude controller but before anything
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// else in the system. They wait on sensor data which is either coming
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// from the sensor hub or from a driver. Keeping this class at a higher
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// priority ensures that the estimator runs first if it can, but will
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// wait for the sensor hub if its data is coming from it.
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#define SCHED_PRIORITY_ESTIMATOR (SCHED_PRIORITY_MAX - 5) |
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// The sensor hub conditions sensor data. It is not the fastest component
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// in the controller chain, but provides easy-to-use data to the more
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// complex downstream consumers
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#define SCHED_PRIORITY_SENSOR_HUB (SCHED_PRIORITY_MAX - 6) |
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// The log capture (which stores log data into RAM) should run faster
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// than other components, but should not run before the control pipeline
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#define SCHED_PRIORITY_LOG_CAPTURE (SCHED_PRIORITY_MAX - 10) |
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// Slow drivers should run at a rate where they do not impact the overall
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// system execution
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#define SCHED_PRIORITY_SLOW_DRIVER (SCHED_PRIORITY_MAX - 35) |
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// The navigation system needs to execute regularly but has no realtime needs
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#define SCHED_PRIORITY_NAVIGATION (SCHED_PRIORITY_DEFAULT + 5) |
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// SCHED_PRIORITY_DEFAULT
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#define SCHED_PRIORITY_LOG_WRITER (SCHED_PRIORITY_DEFAULT - 10) |
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#define SCHED_PRIORITY_PARAMS (SCHED_PRIORITY_DEFAULT - 15) |
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/* SCHED_PRIORITY_IDLE */ |
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