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[paparazzi-commits] [paparazzi/paparazzi] 4d4b0a: [autopilot] group task

From: Gautier Hattenberger
Subject: [paparazzi-commits] [paparazzi/paparazzi] 4d4b0a: [autopilot] group tasks and improve timing
Date: Tue, 27 Jul 2021 05:12:08 -0700

  Branch: refs/heads/autopilot_reorg
  Commit: 4d4b0a908b0a30b32c07b4f476138a04aea6495a
  Author: Gautier Hattenberger <>
  Date:   2021-07-27 (Tue, 27 Jul 2021)

  Changed paths:
    M conf/modules/autopilot_gnc_fw.xml
    M sw/airborne/firmwares/fixedwing/autopilot_firmware.c
    M sw/airborne/firmwares/fixedwing/autopilot_firmware.h
    M sw/airborne/firmwares/fixedwing/main_ap.c
    M sw/airborne/firmwares/fixedwing/main_ap.h
    M sw/airborne/firmwares/fixedwing/main_chibios.c
    M sw/airborne/firmwares/rotorcraft/main_ap.c
    M sw/airborne/firmwares/rotorcraft/main_chibios.c
    M sw/airborne/firmwares/rover/main_ap.c
    M sw/airborne/firmwares/rover/main_chibios.c

  Log Message:
  [autopilot] group tasks and improve timing

- some tasks are grouped in a gnc group as they should be called
in sequence: estimation, control, default, actuators
- the timing between the sensors and gnc is half of the main period, it
correspond to the default resolution of the sys_time virtual timers
- the timing of AP threads is improved with a calculated wakeup time
instead of a fixed sleep time
- the monitor task for fixedwing is moved in the firmware specific
autopilot part and called by a module
- all timings have been accurately tested with high speed log and a
dedicated profiler for ChibiOS

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