selectively increase optimization -Os -> -O2

- targetted at modules/libraries that benefit without drastically
increasing flash usage
 - ignored on boards with CONSTRAINED_FLASH set

src/lib/drivers/accelerometer/CMakeLists.txt

@@ -35,9 +35,5 @@ px4_add_library(drivers_accelerometer
 	PX4Accelerometer.cpp
 	PX4Accelerometer.hpp
 )
-target_link_libraries(drivers_accelerometer
-	PRIVATE
-		conversion
-		drivers__device
-		mathlib
-)
+target_compile_options(drivers_accelerometer PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_link_libraries(drivers_accelerometer PRIVATE conversion drivers__device)

src/lib/drivers/gyroscope/CMakeLists.txt

@@ -35,4 +35,5 @@ px4_add_library(drivers_gyroscope
 	PX4Gyroscope.cpp
 	PX4Gyroscope.hpp
 )
+target_compile_options(drivers_gyroscope PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_link_libraries(drivers_gyroscope PRIVATE conversion drivers__device)

src/lib/perf/CMakeLists.txt

@@ -32,4 +32,5 @@
 ############################################################################
 
 add_library(perf perf_counter.cpp)
-add_dependencies(perf prebuild_targets)
+add_dependencies(perf prebuild_targets)
+target_compile_options(perf PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

src/lib/systemlib/CMakeLists.txt

@@ -33,13 +33,17 @@
 
 set(SRCS
 	conversions.c
+	conversions.h
 	crc.c
+	crc.h
 	mavlink_log.cpp
+	mavlink_log.h
 )
 
 if(${PX4_PLATFORM} STREQUAL "nuttx")
 	list(APPEND SRCS
 		cpuload.c
+		cpuload.h
 		print_load_nuttx.c
 		otp.c
 	)
@@ -50,3 +54,4 @@ else()
 endif()
 
 px4_add_library(systemlib ${SRCS})
+target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

src/modules/mc_att_control/AttitudeControl/CMakeLists.txt

@@ -33,10 +33,9 @@
 
 px4_add_library(AttitudeControl
 	AttitudeControl.cpp
+	AttitudeControl.hpp
 )
-target_include_directories(AttitudeControl
-	PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
+target_compile_options(AttitudeControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(AttitudeControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)

src/modules/mc_att_control/CMakeLists.txt

@@ -37,10 +37,12 @@ px4_add_module(
 	MODULE modules__mc_att_control
 	MAIN mc_att_control
 	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
 		mc_att_control_main.cpp
+		mc_att_control.hpp
 	DEPENDS
-		mathlib
 		AttitudeControl
+		mathlib
 		px4_work_queue
 	)

src/modules/mc_rate_control/CMakeLists.txt

@@ -37,6 +37,7 @@ px4_add_module(
 	MODULE modules__mc_rate_control
 	MAIN mc_rate_control
 	COMPILE_FLAGS
+		${MAX_CUSTOM_OPT_LEVEL}
 	SRCS
 		MulticopterRateControl.cpp
 		MulticopterRateControl.hpp

src/modules/mc_rate_control/RateControl/CMakeLists.txt

@@ -33,12 +33,10 @@
 
 px4_add_library(RateControl
 	RateControl.cpp
+	RateControl.hpp
 )
-target_include_directories(RateControl
-	PUBLIC
-	${CMAKE_CURRENT_SOURCE_DIR}
-)
-
+target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_include_directories(RateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(RateControl PRIVATE mathlib)
 
 px4_add_unit_gtest(SRC RateControlTest.cpp LINKLIBS RateControl)

src/modules/sensors/sensor_corrections/CMakeLists.txt

@@ -35,3 +35,4 @@ px4_add_library(sensor_corrections
 	SensorCorrections.cpp
 	SensorCorrections.hpp
 )
+target_compile_options(sensor_corrections PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

src/modules/sensors/vehicle_acceleration/CMakeLists.txt

@@ -35,6 +35,9 @@ px4_add_library(vehicle_acceleration
 	VehicleAcceleration.cpp
 	VehicleAcceleration.hpp
 )
+
+target_compile_options(vehicle_acceleration PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+
 target_link_libraries(vehicle_acceleration
 	PRIVATE
 		mathlib

src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt

@@ -35,6 +35,9 @@ px4_add_library(vehicle_angular_velocity
 	VehicleAngularVelocity.cpp
 	VehicleAngularVelocity.hpp
 )
+
+target_compile_options(vehicle_angular_velocity PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+
 target_link_libraries(vehicle_angular_velocity
 	PRIVATE
 		mathlib

src/modules/sensors/vehicle_imu/CMakeLists.txt

@@ -37,4 +37,5 @@ px4_add_library(vehicle_imu
 	VehicleIMU.cpp
 	VehicleIMU.hpp
 )
+target_compile_options(vehicle_imu PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_link_libraries(vehicle_imu PRIVATE sensor_corrections px4_work_queue)

src/modules/uORB/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
+if(NOT PX4_BOARD MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
 
 	# this includes the generated topics directory
 	include_directories(${CMAKE_CURRENT_BINARY_DIR})
@@ -39,6 +39,8 @@ if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to plat
 	px4_add_module(
 		MODULE modules__uORB
 		MAIN uorb
+		COMPILE_FLAGS
+			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
 			ORBSet.hpp
 			Publication.hpp