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AP_HAL_SITL: improve periph simulation efficiency #27541

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merged 1 commit into from
Jul 16, 2024
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AP_HAL_SITL: improve periph simulation efficiency #27541

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5 changes: 2 additions & 3 deletions libraries/AP_HAL_SITL/SITL_Periph_State.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,10 +124,9 @@ void SITL_State::wait_clock(uint64_t wait_time_usec)
{
while (AP_HAL::micros64() < wait_time_usec) {
struct sitl_input input {};
sitl_model->update(input);
sitl_model->update(input); // delays up to 1 millisecond
sim_update();
update_voltage_current(input, 0);
usleep(100);
}
}

Expand Down Expand Up @@ -195,7 +194,7 @@ void SimMCast::multicast_read(void)
printf("Waiting for multicast state\n");
}
struct SITL::sitl_fdm state;
while (sock.recv((void*)&state, sizeof(state), 0) != sizeof(state)) {
while (sock.recv((void*)&state, sizeof(state), 1) != sizeof(state)) {
// nop
}
if (_sitl->state.timestamp_us == 0) {
Expand Down
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