Copter: force trigger_groups() and reduce attitude thread priority

ArduPilot · Jun 7, 2024 · 2370654 · 2370654
1 parent ed6bdd2
commit 2370654
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
@@ -69,15 +69,17 @@ void Copter::rate_controller_thread()
                 attitude_control->set_notch_sample_rate(loop_rate_hz);
                 motors->set_dt(1.0/loop_rate_hz);
                 ins.set_rate_decimation(0);
+                hal.rcout->force_trigger_groups(false);
                 was_using_rate_thread = false;
             }
             hal.scheduler->delay_microseconds(500);
             last_run_us = AP_HAL::micros();
             continue;
         }
 
+        // set up rate thread requirements
         using_rate_thread = true;
-
+        hal.rcout->force_trigger_groups(true);
         ins.set_rate_decimation(rate_decimation);
 
         // wait for an IMU sample

diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
@@ -700,7 +700,7 @@ void Copter::one_hz_loop()
 
         if (hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&Copter::rate_controller_thread, void),
                                          "attitude",
-                                         2048, AP_HAL::Scheduler::PRIORITY_BOOST, 1)) {
+                                         1024, AP_HAL::Scheduler::PRIORITY_RCOUT, 1)) {
             started_rate_thread = true;
         }
     }