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Add option for scheduling policy targeting constant average task rates

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This commit is contained in:
Thorsten Laux 2019-01-11 13:29:25 +01:00 • committed by mikeller
parent 2bf2ded102
commit 33741dce75
8 changed files with 52 additions and 4 deletions
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2
src/main/interface/cli.c
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@ -3766,7 +3766,7 @@ static void cliTasks(char *cmdline)
int taskFrequency;
int subTaskFrequency = 0;
if (taskId == TASK_GYROPID) {
subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
subTaskFrequency = taskInfo.movingAverageCycleTime == 0.0f ? 0.0f : (int)(1000000.0f / (taskInfo.movingAverageCycleTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;
if (pidConfig()->pid_process_denom > 1) {
cliPrintf("%02d - (%15s) ", taskId, taskInfo.taskName);