RAIM execution time is too long
jacobmcnamee opened this issue · 1 comments
jacobmcnamee commented
The cause is often other problems such as missed NAP interrupts, but I have measured calc_PVT() taking > 100ms when RAIM is used. Prior to #652 this was causing other threads to be starved of CPU and resulting in a watchdog reset. Now it will cause additional solution intervals to be skipped.
ljbade commented
Hmm interesting, I have encountered watch dog resets before that I couldn't figure out. Maybe this was part of the problem.
Does the RAIM code take much longer to execute when there is a bad satellite combination or something?