change pwm_out rate to fix the cpu usage

imu.txt

@@ -0,0 +1,5 @@
+mems FIFORead -> ProcessGyro or ProcessAccel -> 
+PX4Geroscop's updateFIFO or PX4Accelerometer's updateFIFO ->
+publish sensor_gyro_fifo and sensor_gyro
+
+src/drivers, which used in the rc.board_sensors -> src/lib/drivers -> src/modules/sensors

readme_pwm.txt

@@ -12,17 +12,31 @@ It is used in the startup script to make sure the PWM parameters (`PWM_*`) are a
 by the airframe config if specified). `pwm info` shows the current settings (the trim value is an offset
 and configured with `PWM_MAIN_TRIMx` and `PWM_AUX_TRIMx`).
 -------------------------------------------------------------------------------------------------------------------------------------------------
-lib/mixer: 
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+1.lib/mixer: 
 
 lib of mixer and Group of mixers, built up from single mixers and processed in order when mixing.
 -------------------------------------------------------------------------------------------------------------------------------------------------
-lib/mixer_module: 
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+2.lib/mixer_module: 
 
 This handles the mixing, arming/disarming and all subscriptions required for that.
 
 using lib/mixer
 -------------------------------------------------------------------------------------------------------------------------------------------------
-drivers/pwm_out: 
+
+3.drivers/pwm_out: 
 
 This module is responsible for driving the output and reading the input pins. For boards without a separate IO chip
 (eg. Pixracer), it uses the main channels. On boards with an IO chip (eg. Pixhawk), it uses the AUX channels, and the
@@ -34,6 +48,23 @@ callback with ioctl calls.
 
 using lib/mixer_module
 -------------------------------------------------------------------------------------------------------------------------------------------------
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 drivers/px4io: 
 
 Encapsulates PX4FMU to PX4IO communications modeled as file operations.

src/drivers/pwm_out/PWMOut.cpp

@@ -420,7 +420,8 @@ void PWMOut::update_current_rate()
 	}
 
 	// max interval 0.5 - 100 ms (10 - 2000Hz)
-	const int update_interval_in_us = math::constrain(1000000 / max_rate, 500, 100000);
+	// const int update_interval_in_us = math::constrain(1000000 / max_rate, 500, 100000);
+	const int update_interval_in_us = math::constrain(1000000 / max_rate, 4000, 10000);//4ms - 100ms (10 - 250Hz)
 
 	_current_update_rate = max_rate;
 	_mixing_output.setMaxTopicUpdateRate(update_interval_in_us);

src/lib/mixer_module/mixer_module.cpp

@@ -437,9 +437,9 @@ bool MixingOutput::update()
 	// PX4_INFO("dir_alloc_sim:\n");
 	if (_param_use_control_alloc.get() == 1)
 	{
-		uint64_t timestamp_ca_start;
-		uint64_t timestamp_ca_end;
-		timestamp_ca_start = hrt_absolute_time();
+		// uint64_t timestamp_ca_start;
+		// uint64_t timestamp_ca_end;
+		// timestamp_ca_start = hrt_absolute_time();
 		float roll=0.0;
 		float pitch=0.0;
 		float yaw=0.0;
@@ -460,15 +460,20 @@ bool MixingOutput::update()
 		// double d2r=3.141592653/180;
 		// double r2d=180/3.141592653;
 		dir_alloc_sim(yd, uMin, uMax, u, &z, &iters);
+		for (size_t i = 0; i < 4; i++)
+		{
+			u[i] = 0.0;
+		}
+		dir_alloc_sim(yd, uMin, uMax, u, &z, &iters);
 
 		// PX4_INFO("iters: %f, z: %f, u1: %f, u2: %f, u3: %f, u4: %f. \n", iters, z, u[0]*r2d, u[1]*r2d, u[2]*r2d, u[3]*r2d);
 		for (size_t i = 0; i < 4; i++)
 		{
 			outputs[i+2] = (float) u[i];
 		}
-		timestamp_ca_end = hrt_absolute_time();
+		// timestamp_ca_end = hrt_absolute_time();
 		// PX4_INFO("dir_alloc_sim time: %lld \n", (timestamp_ca_end - timestamp_ca_start) ); //muttx
-		PX4_INFO("dir_alloc_sim time: %ld \n", (timestamp_ca_end - timestamp_ca_start) ); //sitl
+		// PX4_INFO("dir_alloc_sim time: %ld \n", (timestamp_ca_end - timestamp_ca_start) ); //sitl
 	}
 
 	/* the output limit call takes care of out of band errors, NaN and constrains */

src/modules/logger/logged_topics.cpp

@@ -238,6 +238,8 @@ void LoggedTopics::add_vision_and_avoidance_topics()
 void LoggedTopics::add_raw_imu_gyro_fifo()
 {
 	add_topic("sensor_gyro_fifo");
+	// add_topic_multi("sensor_gyro_fifo");
+	// add_topic_multi("sensor_gyro");
 }
 
 void LoggedTopics::add_raw_imu_accel_fifo()

src/modules/uORB/SubscriptionInterval.hpp

@@ -53,7 +53,7 @@ namespace uORB
 {
 
 // Base subscription wrapper class
-class SubscriptionInterval
+class  SubscriptionInterval
 {
 public: