Re: [Paparazzi-devel] Suggestions

[Alexandre Bustico]

Le 13/12/2013 14:28, Ben Laurie a écrit :
> This is because the cost of context switches in RT
> OSes is very high compared to the cost of function calls and
> occasional timer checks...

With chibios on stm32f4, context switching @ 1khz in the worst case : 
using hardware float unit (so that float registers have to be saved),
have a cost of 0.1%, so 99.9% for your tasks, 0,1% for the system, when 
you are in position where you miss theses 0.1%, you're in big trouble :-)

"big" mcu, are designed for rtos, there is dedicated timer for the 
systick, and dedicated hardware for making context switch easy and fast.

--
Alexandre