Incoming target data from track_targets to vision_landing added to a queue and the main loop checks the queue each iteration. This requires the main loop to run at a high speed to reduce pickup latency, and increases cpu usage significantly on slower platforms.
Move the queue pickup to an event based pattern and reduce main loop to much slower 1hz to decrease cpu usage, which will give cpu space back to track_targets and increase framerate and decrease latency.
Incoming target data from track_targets to vision_landing added to a queue and the main loop checks the queue each iteration. This requires the main loop to run at a high speed to reduce pickup latency, and increases cpu usage significantly on slower platforms. Move the queue pickup to an event based pattern and reduce main loop to much slower 1hz to decrease cpu usage, which will give cpu space back to track_targets and increase framerate and decrease latency.