reduced mutex duration

diff --git a/README.md b/README.md
index 532b7201d015273af632980b2f4f6d1273533a71..df00a1a8704d4912f028eed2d0597c7894ecb0f5 100755 (executable)
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@
 Enable fan pin 20 through raspi-config
 
 ```
 Enable fan pin 20 through raspi-config
 
 ```

-sudo apt install -y cmake build-essential checkinstall zlib1g-dev libssl-dev python3 python3-pip ninja-build git ufw python3-picamera2 libspdlog-dev libeigen3-dev --no-install-recommends
+sudo apt install -y cmake build-essential checkinstall zlib1g-dev libssl-dev python3 python3-pip ninja-build git ufw python3-picamera2 libspdlog-dev libeigen3-dev libx264-dev libjpeg-dev --no-install-recommends 

 ```
 
 based a bit on [example](https://github.com/mavlink/mavlink/blob/master/examples/c/udp_example.c).
 ```
 
 based a bit on [example](https://github.com/mavlink/mavlink/blob/master/examples/c/udp_example.c).

diff --git a/processes/controller/controller.cpp b/processes/controller/controller.cpp
index 79ff0f2ceb78cb7d23a494904918e5c147937907..827b0dec0cfccd4c49947565127eef9d039e9309 100644 (file)
--- a/processes/controller/controller.cpp
+++ b/processes/controller/controller.cpp
@@ -36,20 +36,6 @@ const vec2d Complementary_filter::get_state()
 void Complementary_filter::update(const vec3d &gyro_meas, const vec3d &accel_meas, 
                                   double dt_sec, unsigned int gyro_range, unsigned int accel_range)
 {
 void Complementary_filter::update(const vec3d &gyro_meas, const vec3d &accel_meas, 
                                   double dt_sec, unsigned int gyro_range, unsigned int accel_range)
 {

-    /*
-    // Crude check for new data
-    if (last_accel_meas == accel_meas)
-    {
-        logger->warn("Last accel measurement indentical to new.");
-    }
-    if (last_gyro_meas == gyro_meas)
-    {
-        logger->warn("Last gyro measurement identical to new.");
-    }
-    last_accel_meas = accel_meas;
-    last_gyro_meas = gyro_meas; 
-    */
-

     auto accel_est = accel_to_pitch_roll(accel_meas);
     auto gyro_est = pqr_to_euler(gyro_meas, current_state);
 
     auto accel_est = accel_to_pitch_roll(accel_meas);
     auto gyro_est = pqr_to_euler(gyro_meas, current_state);
 

diff --git a/processes/controller/include/controller.h b/processes/controller/include/controller.h
index 8cfc66ba94582f5e4f20d87dcf6865b5c10684f1..2ec06eabdbec39b204256ecf1ef3e2459cdefa94 100644 (file)
--- a/processes/controller/include/controller.h
+++ b/processes/controller/include/controller.h
@@ -29,9 +29,6 @@ private:
     std::shared_ptr<spdlog::logger> logger;
     const double alpha;
     vec2d current_state; 
     std::shared_ptr<spdlog::logger> logger;
     const double alpha;
     vec2d current_state; 

-    vec3d last_gyro_meas;
-    vec3d last_accel_meas;
-

 };
 
 class EKF
 };
 
 class EKF

diff --git a/processes/controller/main.cpp b/processes/controller/main.cpp
index c0f062eb1a9b508b0f8793070dfafb7e5744b288..877b5b25760fdf41b00371937776554033fe8455 100644 (file)
--- a/processes/controller/main.cpp
+++ b/processes/controller/main.cpp
@@ -94,6 +94,7 @@ int main(int argc, char* argv[])
     {
         THREAD_SLEEP(CLICK_READ_SPI_PERIOD);
 
     {
         THREAD_SLEEP(CLICK_READ_SPI_PERIOD);
 

+        /* __________________________________________________________ */

         std::lock_guard<std::mutex> lk{data_lock};
 
         logger->debug("Controlling!");
         std::lock_guard<std::mutex> lk{data_lock};
 
         logger->debug("Controlling!");


@@ -115,6 +116,8 @@ int main(int argc, char* argv[])
         accel_vec = struct_to_vec_scaled(accel_data, (GRAVITY * 16.0) / 32768.0);
 
         comp_filter.update(gyro_vec, accel_vec, time_d);
         accel_vec = struct_to_vec_scaled(accel_data, (GRAVITY * 16.0) / 32768.0);
 
         comp_filter.update(gyro_vec, accel_vec, time_d);

+        
+        /* __________________________________________________________ */

     }
 
     close(sendpipe_fd);
     }
 
     close(sendpipe_fd);


@@ -176,10 +179,11 @@ static err_t spi_init()
     while (true)
     {
         THREAD_SLEEP(CONTROLLER_MAVLINK_PERIOD);
     while (true)
     {
         THREAD_SLEEP(CONTROLLER_MAVLINK_PERIOD);

-        std::lock_guard<std::mutex> lk{data_lock};
-

         logger->debug("Sending IMU Mavlink.");
         logger->debug("Sending IMU Mavlink.");

-
+        
+        /* __________________________________________________________ */
+        data_lock.lock();
+        

         // Pack data into MAVLINK packages
         attitude.time_boot_ms = system_uptime_ms(); 
         attitude.roll = comp_filter.get_state()[1];
         // Pack data into MAVLINK packages
         attitude.time_boot_ms = system_uptime_ms(); 
         attitude.roll = comp_filter.get_state()[1];


@@ -201,6 +205,9 @@ static err_t spi_init()
         scaled_imu.ymag = INT16_MAX;
         scaled_imu.zmag = INT16_MAX;
 
         scaled_imu.ymag = INT16_MAX;
         scaled_imu.zmag = INT16_MAX;
 

+        data_lock.unlock();
+        /* __________________________________________________________ */
+

         mavlink_msg_attitude_encode(
             MAV_SYS_ID, 
             MAV_COMP_ID,
         mavlink_msg_attitude_encode(
             MAV_SYS_ID, 
             MAV_COMP_ID,