control: reduce default control update frequency #37
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GuillaumeLaine
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| @@ -31,7 +31,7 @@ class DirectActuatorsSetpointType : public SetpointBase | |||
| ~DirectActuatorsSetpointType() override = default; | |||
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| Configuration getConfiguration() override; | |||
| float desiredUpdateRateHz() override {return 500.f;} | |||
| float desiredUpdateRateHz() override {return 100.f;} | |||
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I don't think these should be lowered. At least not by that much. Direct motor control & rate controller on an MC needs to run fast enough to work correctly.
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@markusachtelik was advocating for 100Hz defaults, what is the decision here?
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500 Hz gets the CPU up by 20-30%. in addition, something seems to queue up and px4 says the mode becomes unresponsive.
Rate control is definitely enough at 100 Hz, we can debate 200 Hz for direct motor control. If someone really knows what he/she is doing, the update rate can still be increased. But the default should be something not crazy.
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The CPU load depends on various factors. I used a rate-controlled mode with this code on Skynode, and didn't have any problems.
I'm fine with lowering it a bit, but 100+200Hz are too low for the general case.
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everything faster than 200Hz (5ms) will not work well on the scheduler on a non RT OS. let's please set this up so it works in the majority of cases by default. If someone wants it faster, there is still the setFrequency() call, which should work now.
can we get this merged please?
(Anecdotal evidence: My team and I have done rate and direct motor controllers with 100 Hz update rate in the past, the latter even flew a flip. Even the quadcopter dynamics are not as crazy as we always think. maybe a very small tiny quad.)
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I've just set direct actuators and rates to 200Hz default. Hopefully this is compromising enough, someone feel free to merge once the CI is green (:
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Changes
setSetpointUpdateRateFromSetpointTypes()after registration if the mode has already set a desired setpoint update rate (e.g. already calledsetSetpointUpdateRate()in the mode constructor)Testing