Intrusive changes made for UAVCAN profiling. Will be reverted in the next commit (this one is needed to keep the changes in history)

ROMFS/px4fmu_common/init.d/rcS

@@ -8,7 +8,7 @@
 #
 # Default to auto-start mode.
 #
-set MODE autostart
+set MODE none
 
 set FRC /fs/microsd/etc/rc.txt
 set FCONFIG /fs/microsd/etc/config.txt
@@ -656,6 +656,9 @@ then
 # End of autostart
 fi
 
+param set UAVCAN_ENABLE 1
+sh /etc/init.d/rc.uavcan
+
 # There is no further processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR

makefiles/toolchain_gnu-arm-eabi.mk

@@ -105,7 +105,7 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
 # optimisation flags
 #
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g \
+			   -g3 \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \

src/modules/uavcan/actuators/esc.cpp

@@ -98,11 +98,11 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	/*
 	 * Rate limiting - we don't want to congest the bus
 	 */
-	const auto timestamp = _node.getMonotonicTime();
-	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
-		return;
-	}
-	_prev_cmd_pub = timestamp;
+// 	const auto timestamp = _node.getMonotonicTime();
+// 	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+// 		return;
+// 	}
+// 	_prev_cmd_pub = timestamp;
 
 	/*
 	 * Fill the command message

src/modules/uavcan/uavcan_main.cpp

@@ -357,6 +357,16 @@ int UavcanNode::run()
 		_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
 	}
 
+	_esc_controller.arm_all_escs(true);
+	while (true) {
+		for (int i = 0; i < 1000; i++) {
+			node_spin_once();
+			_outputs.noutputs = 8;
+			_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
+		}
+		::usleep(1000);
+	}
+
 	while (!_task_should_exit) {
 		// update actuator controls subscriptions if needed
 		if (_groups_subscribed != _groups_required) {