search

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
GNU General Public License v3.0
10.81k stars 17.26k forks source link

Copter/Rover: move SRTL to separate thread #16126

Open rmackay9 opened 3 years ago

rmackay9 commented 3 years ago

As discussed on the 23-Dec-2020 EU Dev Call (with @tridge and @andyp1per) we should move SRTL's background processing to a new low priority thread. The reason to do this is so that the IO thread (which is really a logging thread) could block waiting for logging which could stop SRTL's background thread from running.

SmartRTL's registers the background processing at the end of the init() method (see code here)

Note that we have not heard reports from users of issues with SRTL but that doesn't necessarily mean there aren't issues.

andyp1per commented 3 years ago

so I think when https://github.com/ArduPilot/ardupilot/pull/16117 goes in this will be largely gone

IamPete1 commented 3 years ago

https://github.com/ArduPilot/ardupilot/pull/16117 has gone in, is this still a problem?

rmackay9 commented 3 years ago

I think we should still probably move SRTL to a new thread although I guess now it is unlikely to make a difference.