commit a391dde09277e479cb8ef00e7435475c19e95e9a
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 17 00:03:30 2022 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Thu Mar 17 00:03:30 2022 -0700
tree f17919d3127ac1e0e55e7164ec8ce64f1598c5a7
parent 128683c3dece48442f801105ac16dc92b3c3aabd

Lower rt priority on localizer

I had thought that low = high for priorities. I think this is preempting
the SPI bus management and causing us to drop IMU packets.

Change-Id: I725330603ae5acc613d1b73aa5d904e58b0f6557
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2022/localizer/localizer.cc

diff --git a/y2022/localizer/localizer.cc b/y2022/localizer/localizer.cc
index ff3a181..24df19b 100644
--- a/y2022/localizer/localizer.cc
+++ b/y2022/localizer/localizer.cc
@@ -885,7 +885,7 @@
       zeroer_(zeroing::ImuZeroer::FaultBehavior::kTemporary),
       left_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()),
       right_encoder_(-DrivetrainWrapPeriod() / 2.0, DrivetrainWrapPeriod()) {
-  event_loop->SetRuntimeRealtimePriority(40);
+  event_loop->SetRuntimeRealtimePriority(10);
   event_loop_->MakeWatcher(
       "/drivetrain",
       [this](