AP_HAL_SITL: improve periph simulation efficiency #27541
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Removes busywait for simulation state packet, dramatically reducing CPU usage. The dominant wait time in AP_Periph is 1024 microseconds as this is the default value of HAL_PERIPH_LOOP_DELAY_US, so a 1ms wait is unlikely to be a problem.
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I'd like to know this is OK with either quad-can or quadplane-can flying with a SIM_SPEEDUP of 5 |
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Tested quad-can with a SIM_SPEEDUP of 5 on the vehicle. Connected over Ethernet to be sure (the sim actually wouldn't start without a network connection), and the vehicle moves fast as if it were moving at 5x. Everything seemed to look quite stable. The desired vs. actual attitude control in a log looks beautiful, both matching well and not showing instability. |
tridge
approved these changes
Jul 16, 2024
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@tpwrules note that pinging me in code_review would have been better than adding MergeOnCiPass, that tag should only be used by people who do have merge permission for the subsystem |
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Removes busywait for simulation state packet, dramatically reducing CPU usage. The dominant wait time in AP_Periph is 1024 microseconds as this is the default value of HAL_PERIPH_LOOP_DELAY_US, so a 1ms wait is unlikely to be a problem.