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Re: [Paparazzi-devel] Suggestions

From: Tilman Baumann
Subject: Re: [Paparazzi-devel] Suggestions
Date: Thu, 12 Dec 2013 13:22:50 +0000
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:17.0) Gecko/20130922 Icedove/17.0.9

On 12/12/13 11:03, Tilman Baumann wrote:
> On 12/12/13 10:53, Ben Laurie wrote:
>> On 12 December 2013 08:59, Michal Podhradsky
>> <address@hidden> wrote:
>>> Hi Poine,
>>> we are working on RT Paparazzi (you can check out the current branch
>>> ( and we currently
>>> have real time rotorcraft firmware. Partially because the code and control
>>> loops was designed in quite a neat way.
>> Curious: why is existing Paparazzi not RT?
> It kind of is. It is designed similarly to the moon lander software. It
> runs a list of functions at a fixed interval. The important ones first
> the less important ones later.
> If it can not finish execution of that list in time it will just start
> over at the beginning of the list. This way the important functions can
> not starve.

Btw. Totally worth reading up on Apollos 1202 program alarm. ;)
It was exactly this kind of condition. Not all periodic tasks fit into
the time slot and less important ones where skipped.

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