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Published 20 hours ago • verified publisher icon bluerobotics

Ardupilot loop timings improvement

Open Williangalvani opened this issue 2 years ago • 1 comments

Add to ArdupilotManager.py ardupilot launch cmdline: --cpu-affinity 3

Add to /boot/cmdline : isolcpus=3 nohz_full=3

ideas from here: https://www.suse.com/c/cpu-isolation-practical-example-part-5/

Moving the interrupts didn't seem to help.

This makes the last CPU exclusive for ardupilot. Preliminar tests looked decent, though not ground-breaking:

Before:

image

After:

image

For this to be implemented we need:

  • [ ] Ardusub 4.1.1
  • [ ] A way of changing command line depending on the firmware in ArdupilotManager.py
  • [ ] A way of changing cmdline.txt

Williangalvani avatar Oct 03 '22 16:10 Williangalvani