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Algorithm improvement:While loop&CPU utilization is high #4788

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Algorithm improvement:While loop&CPU utilization is high #4788

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6 changes: 4 additions & 2 deletions AirLib/src/vehicles/multirotor/api/MultirotorApiBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,8 @@
#include <iostream>
#include <fstream>

#include <windows.h>

namespace msr
{
namespace airlib
Expand Down Expand Up @@ -346,7 +348,7 @@ namespace airlib

//until we are at the end of the path (last seg is always zero size)
while (!waiter.isTimeout() && (next_path_loc.seg_index < path_segs.size() - 1 || goal_dist > 0)) { //current position is approximately at the last end point

Sleep(30);
float seg_velocity = path_segs.at(next_path_loc.seg_index).seg_velocity;
float path_length_remaining = path_length - path_segs.at(cur_path_loc.seg_index).seg_path_length - cur_path_loc.offset;
if (seg_velocity > getMultirotorApiParams().min_vel_for_breaking && path_length_remaining <= breaking_dist) {
Expand Down Expand Up @@ -918,7 +920,7 @@ namespace airlib
//if auto mode requested for lookahead then calculate based on velocity
float command_period_dist = velocity * getCommandPeriod();
float lookahead = command_period_dist * (adaptive_lookahead > 0 ? min_factor : max_factor);
lookahead = std::max(lookahead, getDistanceAccuracy() * 1.5f); //50% more than distance accuracy
lookahead = (std::max)(lookahead, getDistanceAccuracy() * 1.5f); //50% more than distance accuracy
return lookahead;
}

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