Do you get these results while a xenomai application is running or
without xenomai running ?
There is no any rt_task running in my computer when i do the glxgears testing.

If a xenomai application is running, then it needs cpu. If no xenomai
application is running, maybe you disabled support for DRI for your
graphic card in kernel configuration ?
CONFIG_DRM=m
CONFIG_DRM_TDFX=m
CONFIG_DRM_R128=m
CONFIG_DRM_RADEON=m
CONFIG_DRM_I810=m
CONFIG_DRM_I830=m
CONFIG_DRM_I915=m
CONFIG_DRM_MGA=m
CONFIG_DRM_SIS=m
CONFIG_DRM_VIA=m
CONFIG_DRM_SAVAGE=m

I'm using the proprietary driver provided by Ati from
https://a248.e.akamai.net/f/674/9206/0/www2.ati.com/drivers/linux/ati-driver-installer-8.26.18-x86.run

The default driver provided by my linux distribuition can only give
upto 200FPS in my xenomai box.

Regards,
Kim Chuan.

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