NuttX disable priority inheritance and adjust parameter save scheduling

platforms/nuttx/src/px4/common/px4_init.cpp

@@ -39,6 +39,7 @@
 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <px4_platform/cpuload.h>
 #include <uORB/uORB.h>
@@ -127,6 +128,7 @@ int px4_platform_init()
 	hrt_ioctl_init();
 #endif
 
+	perf_init();
 	param_init();
 
 	/* configure CPU load estimation */

platforms/nuttx/src/px4/common/px4_mtd.cpp

@@ -118,15 +118,6 @@ static int ramtron_attach(mtd_instance_s &instance)
 		return -EIO;
 	}
 
-	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000);
-
-	if (ret != OK) {
-		// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
-		// that but setting the bus speed does fail all the time. Which was then exiting and the board would
-		// not run correctly. So changed to PX4_WARN.
-		PX4_WARN("failed to set bus speed");
-	}
-
 	return 0;
 #endif
 }

platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp

@@ -36,12 +36,16 @@
 #include <uORB/Subscription.hpp>
 
 #include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
 
 int main(int argc, char **argv)
 {
 	testing::InitGoogleTest(&argc, argv);
 
 	uORB::Manager::initialize();
+
+	perf_init();
 	param_init();
+
 	return RUN_ALL_TESTS();
 }

platforms/posix/src/px4/common/px4_init.cpp

@@ -37,6 +37,7 @@
 #include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <uORB/uORB.h>
 
@@ -44,6 +45,7 @@ int px4_platform_init(void)
 {
 	hrt_init();
 
+	perf_init();
 	param_init();
 
 	px4::WorkQueueManagerStart();