bluerobotics / bluerobotics/BlueOS
Ardupilot loop timings improvement
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Description
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:
After:
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
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