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uavcan: move to work queue and use MixingOutput

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Main UAVCAN protocol handling and ESC updates run on the same thread/wq as
before. There are 2 WorkItems for separate scheduling of the 2, so that
ESC updates run in sync with actuator_control updates. UAVCAN is scheduled
at a fixed rate of 3ms (previously the poll timeout) and on each UAVCAN
bus event.
This leads to roughly the same behavior as before. CPU & RAM usage are
pretty much the same (tested on Pixhawk 4).

Testing done: Motors still work (with feedback), param changes and a
UAVCAN optical flow sensor.
This commit is contained in:
Beat Küng
2019-10-23 14:25:31 +02:00
parent b7a480b45b
commit 5dff065ec5
17 changed files with 354 additions and 908 deletions
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platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
+2
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@@ -64,6 +64,8 @@ static constexpr wq_config_t I2C4{"wq:I2C4", 1250, -10};
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 6600, -11}; // PX4 att/pos controllers, highest priority after sensors
static constexpr wq_config_t uavcan{"uavcan", 2400, -13};
static constexpr wq_config_t hp_default{"wq:hp_default", 1500, -12};
static constexpr wq_config_t lp_default{"wq:lp_default", 1700, -50};