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uORB: increase ORB_MULTI_MAX_INSTANCES 4 -> 10

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- put more realistic bounds on maximum number of battery instances, gps, etc
This commit is contained in:
Daniel Agar 2020-09-24 11:01:28 -04:00 committed by GitHub
parent f04f0c89ca
commit 0dc8bb9c86
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 27 additions and 23 deletions
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3
msg/battery_status.msg
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@ -40,3 +40,6 @@ uint8 BATTERY_WARNING_EMERGENCY = 3 # immediate landing required
uint8 BATTERY_WARNING_FAILED = 4 # the battery has failed completely
uint8 warning # current battery warning
uint8 MAX_INSTANCES = 4

3
src/modules/commander/Commander.hpp
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@ -397,7 +397,8 @@ private:
uORB::Subscription _system_power_sub{ORB_ID(system_power)};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vtol_vehicle_status_sub{ORB_ID(vtol_vehicle_status)};
uORB::SubscriptionMultiArray<battery_status_s> _battery_status_subs{ORB_ID::battery_status};
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
uORB::SubscriptionMultiArray<distance_sensor_s> _distance_sensor_subs{ORB_ID::distance_sensor};
uORB::SubscriptionMultiArray<telemetry_status_s> _telemetry_status_subs{ORB_ID::telemetry_status};

2
src/modules/commander/mag_calibration.cpp
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@ -226,7 +226,7 @@ static calibrate_return check_calibration_result(float offset_x, float offset_y,
static float get_sphere_radius()
{
// if GPS is available use real field intensity from world magnetic model
uORB::SubscriptionMultiArray<vehicle_gps_position_s> gps_subs{ORB_ID::vehicle_gps_position};
uORB::SubscriptionMultiArray<vehicle_gps_position_s, 3> gps_subs{ORB_ID::vehicle_gps_position};
for (auto &gps_sub : gps_subs) {
vehicle_gps_position_s gps;

8
src/modules/logger/logged_topics.cpp
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@ -75,7 +75,6 @@ void LoggedTopics::add_default_topics()
add_topic("position_setpoint_triplet", 200);
add_topic("px4io_status");
add_topic("radio_status");
add_topic("rate_ctrl_status", 200);
add_topic("rpm", 500);
add_topic("safety");
add_topic("sensor_combined");
@ -110,14 +109,15 @@ void LoggedTopics::add_default_topics()
add_topic_multi("actuator_outputs", 100, 2);
add_topic_multi("logger_status", 0, 2);
add_topic_multi("multirotor_motor_limits", 1000, 2);
add_topic_multi("rate_ctrl_status", 200, 2);
add_topic_multi("telemetry_status", 1000);
add_topic_multi("wind_estimate", 1000);
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 300);
add_topic_multi("differential_pressure", 1000);
add_topic_multi("battery_status", 300, 4);
add_topic_multi("differential_pressure", 1000, 3);
add_topic_multi("distance_sensor", 1000);
add_topic_multi("optical_flow", 1000);
add_topic_multi("optical_flow", 1000, 2);
add_topic_multi("sensor_accel", 1000, 3);
add_topic_multi("sensor_baro", 1000, 3);
add_topic_multi("sensor_gyro", 1000, 3);

2
src/modules/logger/logged_topics.h
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@ -74,7 +74,7 @@ inline bool operator&(SDLogProfileMask a, SDLogProfileMask b)
class LoggedTopics
{
public:
static constexpr int MAX_TOPICS_NUM = 200; /**< Maximum number of logged topics */
static constexpr int MAX_TOPICS_NUM = 255; /**< Maximum number of logged topics */
struct RequestedSubscription {
uint16_t interval_ms;

13
src/modules/mavlink/mavlink_high_latency2.cpp
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@ -72,7 +72,7 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
bool updated = _airspeed.valid();
updated |= _airspeed_sp.valid();
for (int i = 0; i < MAX_BATTERIES; i++) {
for (int i = 0; i < battery_status_s::MAX_INSTANCES; i++) {
updated |= _batteries[i].analyzer.valid();
}
@ -112,7 +112,7 @@ bool MavlinkStreamHighLatency2::send(const hrt_abstime t)
int lowest = 0;
for (int i = 1; i < MAX_BATTERIES; i++) {
for (int i = 1; i < battery_status_s::MAX_INSTANCES; i++) {
const bool battery_connected = _batteries[i].connected && _batteries[i].analyzer.valid();
const bool battery_is_lowest = _batteries[i].analyzer.get_scaled(100.0f) <= _batteries[lowest].analyzer.get_scaled(
100.0f);
@ -183,7 +183,7 @@ void MavlinkStreamHighLatency2::reset_analysers(const hrt_abstime t)
_airspeed.reset();
_airspeed_sp.reset();
for (int i = 0; i < MAX_BATTERIES; i++) {
for (int i = 0; i < battery_status_s::MAX_INSTANCES; i++) {
_batteries[i].analyzer.reset();
}
@ -227,10 +227,11 @@ bool MavlinkStreamHighLatency2::write_attitude_sp(mavlink_high_latency2_t *msg)
bool MavlinkStreamHighLatency2::write_battery_status(mavlink_high_latency2_t *msg)
{
struct battery_status_s battery;
bool updated = false;
for (int i = 0; i < MAX_BATTERIES; i++) {
for (int i = 0; i < battery_status_s::MAX_INSTANCES; i++) {
battery_status_s battery;
if (_batteries[i].subscription.update(&battery)) {
updated = true;
_batteries[i].connected = battery.connected;
@ -486,7 +487,7 @@ void MavlinkStreamHighLatency2::update_battery_status()
{
battery_status_s battery;
for (int i = 0; i < MAX_BATTERIES; i++) {
for (int i = 0; i < battery_status_s::MAX_INSTANCES; i++) {
if (_batteries[i].subscription.update(&battery)) {
_batteries[i].connected = battery.connected;
_batteries[i].analyzer.add_value(battery.remaining, _update_rate_filtered);

3
src/modules/mavlink/mavlink_high_latency2.h
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@ -138,8 +138,7 @@ private:
hrt_abstime _last_update_time = 0;
float _update_rate_filtered = 0.0f;
static constexpr int MAX_BATTERIES = 4;
PerBatteryData _batteries[MAX_BATTERIES] {0, 1, 2, 3};
PerBatteryData _batteries[battery_status_s::MAX_INSTANCES] {0, 1, 2, 3};
/* do not allow top copying this class */
MavlinkStreamHighLatency2(MavlinkStreamHighLatency2 &);

14
src/modules/mavlink/mavlink_messages.cpp
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@ -649,7 +649,7 @@ public:
private:
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _cpuload_sub{ORB_ID(cpuload)};
uORB::SubscriptionMultiArray<battery_status_s> _battery_status_subs{ORB_ID::battery_status};
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
/* do not allow top copying this class */
MavlinkStreamSysStatus(MavlinkStreamSysStatus &) = delete;
@ -669,7 +669,7 @@ protected:
cpuload_s cpuload{};
_cpuload_sub.copy(&cpuload);
battery_status_s battery_status[ORB_MULTI_MAX_INSTANCES] {};
battery_status_s battery_status[battery_status_s::MAX_INSTANCES] {};
for (int i = 0; i < _battery_status_subs.size(); i++) {
_battery_status_subs[i].copy(&battery_status[i]);
@ -753,7 +753,7 @@ public:
}
private:
uORB::SubscriptionMultiArray<battery_status_s> _battery_status_subs{ORB_ID::battery_status};
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
/* do not allow top copying this class */
MavlinkStreamBatteryStatus(MavlinkStreamSysStatus &) = delete;
@ -877,7 +877,7 @@ public:
}
private:
uORB::SubscriptionMultiArray<battery_status_s> _battery_status_subs{ORB_ID::battery_status};
uORB::SubscriptionMultiArray<battery_status_s, battery_status_s::MAX_INSTANCES> _battery_status_subs{ORB_ID::battery_status};
/* do not allow top copying this class */
MavlinkStreamSmartBatteryInfo(MavlinkStreamSysStatus &) = delete;
@ -960,7 +960,7 @@ public:
}
private:
uORB::SubscriptionMultiArray<vehicle_imu_s> _vehicle_imu_subs{ORB_ID::vehicle_imu};
uORB::SubscriptionMultiArray<vehicle_imu_s, 3> _vehicle_imu_subs{ORB_ID::vehicle_imu};
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
uORB::Subscription _bias_sub{ORB_ID(estimator_sensor_bias)};
uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure)};
@ -2993,7 +2993,7 @@ public:
private:
uORB::Subscription _sensor_selection_sub{ORB_ID(sensor_selection)};
uORB::SubscriptionMultiArray<vehicle_imu_status_s> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
uORB::SubscriptionMultiArray<vehicle_imu_status_s, 3> _vehicle_imu_status_subs{ORB_ID::vehicle_imu_status};
/* do not allow top copying this class */
MavlinkStreamVibration(MavlinkStreamVibration &) = delete;
@ -4622,7 +4622,7 @@ protected:
{
bool updated = false;
for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
for (int i = 0; i < _distance_sensor_subs.size(); i++) {
distance_sensor_s dist_sensor;
if (_distance_sensor_subs[i].update(&dist_sensor)) {

2
src/modules/uORB/uORB.h
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@ -60,7 +60,7 @@ typedef const struct orb_metadata *orb_id_t;
/**
* Maximum number of multi topic instances
*/
#define ORB_MULTI_MAX_INSTANCES 4 // This must be < 10 (because it's the last char of the node path)
#define ORB_MULTI_MAX_INSTANCES 10 // This must be <= 10 (because it's the last char of the node path)
/**
* Generates a pointer to the uORB metadata structure for