any news on the issue? I would like to tell you why this is a problem also when not using the RC to param functionality. We are using a flight planning software, which is writing some parameters before every mission upload (e.g. MIS_YAWMODE, RTL_RETURN_ALT, NAV_RCL_ACT, etc.). Mission uploads are not only done on ground but also in the air.
We have developed some electronics/logics, detecting issues partly also on the actuator output PWM signals. This failure detection is quite often triggered during mission upload, or in more detail during the parameter writing before a mission upload. When analysing the load using top on NSH you can clearly see, that lpwork is using a large amount of the CPU resources.
Although it was written in the discussion http://discuss.px4.io/t/high-lpwork-cpu-at-v1-6-0/3453, that this does not affect the real-time tasks, such as the rate controller, this cannot be entirely true as you can see in the following log. You can easily see, that the actuator_outputs hang for a couple of milliseconds during the parameter write process. This is enough for our system to trigger a fatal error.
Although we could of course increase the detection trigger time, I would really prefer to find and fix the source of issue. And what about the SYS_FMU_TASK parameter? Can this influence the observed behaviour/issue?
Many thanks for your support!