minor thread/task priority adjustments #15327
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- SPI threads become highest priority to ensure consistent scheduling - run inner loop after SPI (for primary IMU) - adjust remaining task priorities to be consistent with PX4 work queue - replace magic priority levels with PX4 tasks defines wherever possible
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The goal here is to ensure consistent scheduling of the IMUs, immune to things like parameter update. Initially with the PX4 work queue the rate control (inner loop) thread was the highest priority to ensure it runs immediately when the primary gyro publishes.
With nearly all the sensor processing removed from the bus thread (now handled downstream in sensors) the actual cpu time spent in a driver is minimal (~10-20us) and overall it's slightly faster to let them always run to completion and avoid additional high rate context switching.
So overall there is a small increase in control latency (and potential jitter), but I consider it negligible.