From 0a66329655c224c878456f643bad7036778b1563 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 13 Jul 2020 10:10:19 -0400 Subject: [PATCH] px4_work_queue: rename navigation_and_controllers -> nav_and_controllers - keep the thread within the current NuttX max length --- .../px4_platform_common/px4_work_queue/WorkQueueManager.hpp | 2 +- src/modules/airspeed_selector/airspeed_selector_main.cpp | 2 +- src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp | 2 +- src/modules/ekf2/ekf2_main.cpp | 2 +- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 2 +- src/modules/land_detector/LandDetector.cpp | 2 +- .../local_position_estimator/BlockLocalPositionEstimator.cpp | 2 +- src/modules/mc_pos_control/mc_pos_control_main.cpp | 2 +- src/modules/sensors/sensors.cpp | 2 +- .../sensors/vehicle_acceleration/VehicleAcceleration.cpp | 2 +- src/modules/sensors/vehicle_air_data/VehicleAirData.cpp | 2 +- src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 2 +- 12 files changed, 12 insertions(+), 12 deletions(-) diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp index 949c19495aa8..ee2712521ddb 100644 --- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp +++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp @@ -66,7 +66,7 @@ static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12}; // PX4 att/pos controllers, highest priority after sensors. static constexpr wq_config_t attitude_ctrl{"wq:attitude_ctrl", 1632, -13}; -static constexpr wq_config_t navigation_and_controllers{"wq:navigation_and_controllers", 7200, -14}; +static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 7200, -14}; static constexpr wq_config_t hp_default{"wq:hp_default", 1900, -15}; diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp index 14ce3e057f6f..93da2c0df45f 100644 --- a/src/modules/airspeed_selector/airspeed_selector_main.cpp +++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp @@ -176,7 +176,7 @@ class AirspeedModule : public ModuleBase, public ModuleParams, AirspeedModule::AirspeedModule(): ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers) + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) { // initialise parameters update_params(); diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 886a55ffe5f3..3b7fd2d38a02 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -160,7 +160,7 @@ class AttitudeEstimatorQ : public ModuleBase, public ModuleP AttitudeEstimatorQ::AttitudeEstimatorQ() : ModuleParams(nullptr), - WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers) + WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) { _vel_prev.zero(); _pos_acc.zero(); diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 974caa9f826e..ac4ca2c8c8fc 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -543,7 +543,7 @@ class Ekf2 final : public ModuleBase, public ModuleParams, public px4::Sch Ekf2::Ekf2(bool replay_mode): ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _replay_mode(replay_mode), _ekf_update_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": update")), _params(_ekf.getParamHandle()), diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index e920aa4f0da9..e5ca60dcb1f2 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -37,7 +37,7 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) : ModuleParams(nullptr), - WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")), _launchDetector(this), diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp index 86b16b58f83b..8a231b7b0dbb 100644 --- a/src/modules/land_detector/LandDetector.cpp +++ b/src/modules/land_detector/LandDetector.cpp @@ -47,7 +47,7 @@ namespace land_detector LandDetector::LandDetector() : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers) + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) {} LandDetector::~LandDetector() diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 8065c9487fb9..128aa607d0cc 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -19,7 +19,7 @@ static const char *msg_label = "[lpe] "; // rate of land detector correction BlockLocalPositionEstimator::BlockLocalPositionEstimator() : ModuleParams(nullptr), - WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), // this block has no parent, and has name LPE SuperBlock(nullptr, "LPE"), diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 59924d5eef3e..6f61f7ce6e33 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -283,7 +283,7 @@ class MulticopterPositionControl : public ModuleBase MulticopterPositionControl::MulticopterPositionControl(bool vtol) : SuperBlock(nullptr, "MPC"), ModuleParams(nullptr), - WorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _vehicle_attitude_setpoint_pub(vtol ? ORB_ID(mc_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)), _vel_x_deriv(this, "VELD"), _vel_y_deriv(this, "VELD"), diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 42b6fc3f06bd..738c755b350f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -206,7 +206,7 @@ class Sensors : public ModuleBase, public ModuleParams, public px4::Sch Sensors::Sensors(bool hil_enabled) : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _hil_enabled(hil_enabled), _loop_perf(perf_alloc(PC_ELAPSED, "sensors")), _voted_sensors_update(_parameters, hil_enabled, _vehicle_imu_sub) diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 6985235d09ed..66c0a2cf1089 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -43,7 +43,7 @@ namespace sensors VehicleAcceleration::VehicleAcceleration() : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers) + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) { _lp_filter.set_cutoff_frequency(kInitialRateHz, _param_imu_accel_cutoff.get()); } diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index 6f12127bc0d3..63663c09b7f8 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -46,7 +46,7 @@ static constexpr uint32_t SENSOR_TIMEOUT{300_ms}; VehicleAirData::VehicleAirData() : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers) + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers) { _voter.set_timeout(SENSOR_TIMEOUT); } diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 9490b97df9d3..6db9ebc3efe5 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -47,7 +47,7 @@ namespace sensors VehicleIMU::VehicleIMU(uint8_t accel_index, uint8_t gyro_index) : ModuleParams(nullptr), - ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::navigation_and_controllers), + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers), _sensor_accel_sub(this, ORB_ID(sensor_accel), accel_index), _sensor_gyro_sub(this, ORB_ID(sensor_gyro), gyro_index) {