ci/boards: add itcm checker, update ITCM mapping of v6xrt and tropic-community

.github/workflows/itcm_check.yml

@@ -0,0 +1,61 @@
+name: ITCM check
+
+permissions:
+  contents: read
+
+on:
+  push:
+    branches:
+      - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+  pull_request:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+
+jobs:
+  check_itcm:
+    name: Checking ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: px4_fmu-v5x
+            scripts: >
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
+          - target: px4_fmu-v6xrt
+            scripts: >
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_tropic-community
+            scripts: >
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}
+
+      - name: Copy built ELF
+        run: cp ./build/**/*.elf ./built.elf
+
+      - name: Install itcm-check dependencies
+        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
+
+      - name: Execute the itcm-check
+        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}

Tools/itcm_check.py

@@ -0,0 +1,185 @@
+#! /usr/bin/env python3
+
+"""
+Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
+
+This helps against linker scripts that "rot" as the linker does not warn in case of a function
+not existing. Thus, it is possible to forget to update the linker script after a code update.
+
+The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
+exist in the built ELF file.
+
+It is expected that the linker scripts that are analyzed by the tool are linker script include
+files that only contain the name of the sections (functions) that should be mapped to ITCM in
+the following format:
+```
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+[...]
+```
+
+A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
+```
+*(.text.arm_ack_irq) /* itcm-check-ignore */
+```
+"""
+
+import argparse
+import re
+from elftools.elf.elffile import ELFFile
+from elftools.elf.sections import SymbolTableSection
+from elftools.dwarf.die import DIE
+from pathlib import Path
+from typing import List, Set
+
+
+def die_get_funcs_rec(die: DIE, ret: Set[str]):
+    """
+    Recursively gets the mangled and demangled name of all functions in the given `die`.
+
+    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
+    :param ret: Output set where all function names are added to.
+    """
+    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
+        link_name_att = die.attributes.get("DW_AT_linkage_name")
+        name_att = die.attributes.get("DW_AT_name")
+        if link_name_att:
+            ret.add(link_name_att.value.decode("utf-8"))
+        if name_att:
+            ret.add(name_att.value.decode("utf-8"))
+
+    # Recurse into the DIE children
+    for child in die.iter_children():
+        die_get_funcs_rec(child, ret)
+
+
+def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the DWARF debug info.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        if not elf.has_dwarf_info():
+            print("ELF does not have debug info. Compile with debug info.")
+            exit(1)
+        dwarf_info = elf.get_dwarf_info()
+        for CU in dwarf_info.iter_CUs():
+            top_die = CU.get_top_DIE()
+            die_get_funcs_rec(top_die, ret)
+
+    return ret
+
+
+def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the symbol table section.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        for section in elf.iter_sections():
+            if isinstance(section, SymbolTableSection):
+                for sym in section.iter_symbols():
+                    ret.add(sym.name)
+    return ret
+
+
+def is_section_supported(section: str) -> bool:
+    """
+    Returns whether this type of section can be checked.
+
+    :param section: Name of the section that should be checked for support.
+
+    :return: Whether the type of section is supported.
+    """
+    not_supported_sections = [".isra", ".part", ".constprop"]
+    return not any(not_supported in section for not_supported in not_supported_sections)
+
+
+def get_input_sections(script_path: Path) -> List[str]:
+    """
+    Gets all sections (named after the functions) that should be mapped to ITCM according
+    to the linker script.
+
+    :param script_path: Path of the linker script.
+
+    :return: The names of the sections
+    """
+    ret = []
+    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
+    ignored_marker = "itcm-check-ignore"
+    with open(script_path, 'r') as f:
+        for line in f:
+            match = section_pattern.match(line)
+            if match and ignored_marker not in line:
+                section_name = match.group(1).replace("text.", "")
+                if is_section_supported(section_name):
+                    ret.append(section_name)
+    return ret
+
+
+def check_itcm(elf_path: Path, script_paths: List[Path]):
+    """
+    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
+
+    :param elf_path: Path of the ELF file.
+    :param script_paths: Path of all linker scripts that should be checked.
+    """
+    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
+    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
+    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
+    input_sections = []
+    for script_path in script_paths:
+        script_input_sections = get_input_sections(script_path)
+        if script_input_sections:
+            input_sections.extend(script_input_sections)
+        else:
+            print(f"No input sections found in {script_path}, please check if the path is correct.")
+
+    check_passed = True
+    for input_section in input_sections:
+        if input_section not in elf_symbols:
+            check_passed = False
+            print(f"Section: {input_section} not found in the ELF file!")
+
+    if check_passed:
+        print("ITCM check passed!")
+        exit(0)
+    else:
+        print("ITCM check failed!")
+        exit(1)
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
+    parser.add_argument(
+        "--elf-file",
+        help="Path of the compiled ELF file",
+        type=Path,
+        required=True
+    )
+    parser.add_argument(
+        "--script-files",
+        help="Paths of the linker script files",
+        nargs="+",
+        type=Path,
+        required=True
+    )
+
+    args = parser.parse_args()
+    check_itcm(args.elf_file, args.script_files)
+
+
+if __name__ == '__main__':
+    main()

Tools/setup/optional-requirements.txt

@@ -1 +1,2 @@
+pyelftools>=0.32,<1
 symforce>=0.9.0

boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld

@@ -2,7 +2,7 @@
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
-*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
+*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_) /* itcm-check-ignore */
 *(.text._ZN13MavlinkStream12get_size_avgEv)
 *(.text._ZN16ControlAllocator3RunEv)
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
@@ -57,7 +57,6 @@
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
@@ -68,7 +67,7 @@
 *(.text.nx_poll)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
+*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEERK9LatLonAltS8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
@@ -99,7 +98,6 @@
 *(.text.file_vioctl)
 *(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
 *(.text.nxsig_nanosleep)
-*(.text.imxrt_lpspi1select)
 *(.text.sem_wait)
 *(.text.perf_count_interval.part.0)
 *(.text._ZN16ControlAllocator37update_effectiveness_matrix_if_neededE25EffectivenessUpdateReason)
@@ -122,7 +120,6 @@
 *(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
 *(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
 *(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
-*(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
 *(.text.clock_nanosleep)
@@ -154,7 +151,6 @@
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
-*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
 *(.text._ZN12PX4Gyroscope9set_scaleEf)
 *(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
 *(.text._ZN18MavlinkStreamDebug4sendEv)
@@ -167,11 +163,10 @@
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
 *(.text.imxrt_dmach_start)
 *(.text._ZN3ADC19update_system_powerEy)
-*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
+*(.text._ZNK3Ekf19get_ekf_soln_statusEv)
 *(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
 *(.text.imxrt_gpio_read)
 *(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
-*(.text._ZN15ArchPX4IOSerial13_bus_exchangeEP8IOPacket)
 *(.text._ZN39MavlinkStreamGimbalDeviceAttitudeStatus4sendEv)
 *(.text._ZNK10ConstLayer3getEt)
 *(.text.__aeabi_uldivmod)
@@ -194,11 +189,9 @@
 *(.text._ZN22MavlinkStreamGPSStatus4sendEv)
 *(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
 *(.text._ZN23MavlinkStreamStatustext4sendEv)
-*(.text._ZN3Ekf15constrainStatesEv)
-*(.text._ZN12PX4IO_serial4readEjPvj)
 *(.text.uart_poll)
 *(.text._ZN24MavlinkParametersManager4sendEv)
-*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
+*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_sf)
 *(.text.file_poll)
 *(.text.hrt_elapsed_time)
 *(.text._ZN7Mavlink11send_finishEv)
@@ -232,8 +225,7 @@
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
-*(.text._ZN3Ekf16fuseVelPosHeightEffi)
+*(.text._ZN3Ekf23controlBaroHeightFusionERKN9estimator9imuSampleE)
-*(.text._ZN3Ekf23controlBaroHeightFusionEv)
 *(.text._ZN16PX4Accelerometer9set_scaleEf)
 *(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
 *(.text._ZN22MavlinkStreamEfiStatus4sendEv)
@@ -243,13 +235,11 @@
 *(.text._ZN15PositionControl11_inputValidEv)
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
-*(.text._ZN3Ekf16controlMagFusionEv)
+*(.text._ZN3Ekf16controlMagFusionERKN9estimator9imuSampleE)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
 *(.text._ZN4uORB20SubscriptionInterval4copyEPv)
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
-*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
@@ -260,7 +250,6 @@
 *(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
 *(.text.pthread_mutex_add)
 *(.text._ZN12HomePosition6updateEbb)
-*(.text._ZN5PX4IO3RunEv)
 *(.text.poll_fdsetup)
 *(.text._ZN15PositionControl20_accelerationControlEv)
 *(.text._ZN3Ekf19controlHeightFusionERKN9estimator9imuSampleE)
@@ -280,7 +269,7 @@
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
-*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
+*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
@@ -299,7 +288,7 @@
 *(.text._ZN25MavlinkStreamHomePosition4sendEv)
 *(.text._ZN24MavlinkParametersManager8send_oneEv)
 *(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
-*(.text._ZN21HealthAndArmingChecks6updateEb)
+*(.text._ZN21HealthAndArmingChecks6updateEbb)
 *(.text._ZThn24_N22MulticopterRateControl3RunEv)
 *(.text._ZN26MavlinkStreamManualControl4sendEv)
 *(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
@@ -307,14 +296,11 @@
 *(.text._ZN4uORB7Manager11orb_publishEPK12orb_metadataPvPKv)
 *(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
 *(.text._ZN10MavlinkFTP4sendEv)
-*(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
+*(.text._ZN3Ekf27controlExternalVisionFusionERKN9estimator9imuSampleE)
-*(.text._ZN3Ekf27controlExternalVisionFusionEv)
 *(.text.clock_gettime)
 *(.text._ZN3ADC17update_adc_reportEy)
-*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
-*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
 *(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
-*(.text._ZN9LockGuardD1Ev)
+*(.text._ZN9LockGuardD1Ev) /* itcm-check-ignore */
 *(.text._ZN4EKF213PublishStatesERKy)
 *(.text._ZN3ADC3RunEv)
 *(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
@@ -336,13 +322,11 @@
 *(.text._ZThn16_N7sensors22VehicleAngularVelocity3RunEv)
 *(.text._ZN29MavlinkStreamObstacleDistance4sendEv)
 *(.text._ZN24MavlinkStreamOrbitStatus4sendEv)
-*(.text._ZN16PreFlightChecker26preFlightCheckHeightFailedERK23estimator_innovations_sf)
 *(.text._ZN9Navigator3runEv)
 *(.text._ZN24MavlinkParametersManager11send_paramsEv)
 *(.text._ZN17MavlinkLogHandler4sendEv)
 *(.text._ZN7control10SuperBlock5setDtEf)
 *(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
-*(.text._ZN5PX4IO13io_get_statusEv)
 *(.text._ZN26MulticopterAttitudeControl3RunEv)
 *(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
 *(.text._ZN4EKF218PublishStatusFlagsERKy)
@@ -350,13 +334,12 @@
 *(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
 *(.text._ZN7Mavlink10send_startEi)
 *(.text.imxrt_lpspi_setbits)
-*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
+*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEff)
 *(.text._ZN4EKF222UpdateAccelCalibrationERKy)
 *(.text._ZN7sensors19VehicleMagnetometer3RunEv)
 *(.text._ZN29MavlinkStreamMountOrientation4sendEv)
 *(.text._ZN13land_detector12LandDetector19UpdateVehicleAtRestEv)
 *(.text._ZN10FlightTask29_evaluateVehicleLocalPositionEv)
-*(.text.board_autoled_off)
 *(.text.__aeabi_f2lz)
 *(.text._ZN32MavlinkStreamCameraImageCaptured4sendEv)
 *(.text._ZN21MavlinkStreamOdometry8get_sizeEv)
@@ -365,24 +348,19 @@
 *(.text.poll)
 *(.text._ZN14FlightTaskAutoD1Ev)
 *(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
-*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
+*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator10gnssSampleE)
 *(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
 *(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
 *(.text._ZN22MavlinkStreamScaledIMU4sendEv)
-*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
 *(.text.imxrt_ioctl)
-*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
-*(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
-*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamScaledIMU24sendEv)
-*(.text._ZN5PX4IO10io_reg_getEhhPtj)
 *(.text.imxrt_dma_send)
 *(.text._ZN20MavlinkStreamWindCov4sendEv)
 *(.text._ZN7sensors18VotedSensorsUpdate13checkFailoverERNS0_10SensorDataEPKcN6events3px45enums13sensor_type_tE)
@@ -405,7 +383,7 @@
 *(.text._ZN9Commander11updateTunesEv)
 *(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
 *(.text._ZN18DataValidatorGroup3putEjyPKfmh)
-*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
+*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_S0_)
 *(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
 *(.text._ZN17FlightTaskDescendD1Ev)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
@@ -413,7 +391,6 @@
 *(.text._ZN24FlightTaskManualAltitudeD1Ev)
 *(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
 *(.text.uart_pollnotify)
-*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
@@ -444,7 +421,7 @@
 *(.text.clock_systime_timespec)
 *(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
 *(.text._ZThn16_N4EKF23RunEv)
-*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
+*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj24EEE)
 *(.text._ZN12ActuatorTest6updateEif)
 *(.text._ZN17VelocitySmoothingC1Efff)
 *(.text._ZN13AnalogBattery19get_voltage_channelEv)
@@ -459,11 +436,10 @@
 *(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
-*(.text._ZN16PreFlightChecker27preFlightCheckHeadingFailedERK23estimator_innovations_sf)
 *(.text.imxrt_config_gpio)
 *(.text.nxsig_timeout)
 *(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
-*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
 *(.text.dq_addlast)
 *(.text._ZN19MavlinkStreamVFRHUD4sendEv)
 *(.text.hrt_call_reschedule)
@@ -487,14 +463,13 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
 *(.text.mallinfo_handler)
 *(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
-*(.text._ZN24ManualVelocitySmoothingZC1Ev)
+*(.text._ZN24ManualVelocitySmoothingZC1Ev) /* itcm-check-ignore */
 *(.text._ZN3ADC6sampleEj)
 *(.text._ZNK3Ekf22isTerrainEstimateValidEv)
-*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
+*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
 *(.text._ZN11ControlMath11addIfNotNanERff)
 *(.text._ZN9Commander21checkForMissionUpdateEv)
 *(.text._Z8set_tunei)
-*(.text._ZN3Ekf13stopGpsFusionEv)
 *(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
 *(.text._ZN10FlightTask22_checkEkfResetCountersEv)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
@@ -516,7 +491,6 @@
 *(.text.MEM_DataCopy2_2)
 *(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
 *(.text.sock_file_poll)
-*(.text._ZN3Ekf20controlHaglRngFusionEv)
 *(.text._ZN10Ringbuffer9pop_frontEPhj)
 *(.text.nx_write)
 *(.text._ZN9Commander18manualControlCheckEv)
@@ -527,18 +501,15 @@
 *(.text.sem_clockwait)
 *(.text.inet_poll)
 *(.text._ZN6BMP3887collectEv)
-*(.text._ZN15ArchPX4IOSerial19_do_rx_dma_callbackEbi)
-*(.text._ZN15ArchPX4IOSerial10_abort_dmaEv)
 *(.text._ZNK15PositionControl24getLocalPositionSetpointER33vehicle_local_position_setpoint_s)
 *(.text._ZN3Ekf16controlGpsFusionERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamRCChannels8get_sizeEv)
 *(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
 *(.text._ZNK6matrix6VectorIfLj2EE4normEv)
 *(.text._Z15arm_auth_updateyb)
-*(.text._ZN3LED5ioctlEP4fileim)
+*(.text._ZN3LED5ioctlEP4fileim) /* itcm-check-ignore */
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
-*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
 *(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
 *(.text.imxrt_lpi2c_setclock)
 *(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
@@ -559,16 +530,13 @@
 *(.text._ZN6BMP38815get_sensor_dataEhP9bmp3_data)
 *(.text._ZN18MavlinkRateLimiter5checkERKy)
 *(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
-*(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
 *(.text.imxrt_periphclk_configure)
-*(.text._ZN3Ekf8initHaglEv)
 *(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
 *(.text._ZN3RTL11on_inactiveEv)
 *(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
@@ -586,22 +554,19 @@
 *(.text._ZN26MulticopterPositionControl3RunEv)
 *(.text._ZN8Failsafe21fromQuadchuteActParamEi)
 *(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
-*(.text._ZN7control15BlockDerivative6updateEf)
+*(.text._ZN7control15BlockDerivative6updateEf) /* itcm-check-ignore */
-*(.text._ZN5PX4IO10io_reg_getEhh)
 *(.text._ZN9Commander18safetyButtonUpdateEv)
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
 *(.text.uart_xmitchars_done)
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
-*(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
 *(.text._ZN6Safety19safetyButtonHandlerEv)
-*(.text._ZN3Ekf19controlAuxVelFusionEv)
+*(.text._ZN3Ekf19controlAuxVelFusionERKN9estimator9imuSampleE)
 *(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
 *(.text._ZThn24_N7Sensors3RunEv)
 *(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
 *(.text._ZN10FlightTask10reActivateEv)
-*(.text._ZN5PX4IO17io_publish_raw_rcEv)
 *(.text._ZNK15PositionControl19getAttitudeSetpointER27vehicle_attitude_setpoint_s)
 *(.text._ZN4cdev4CDev4pollEP4fileP6pollfdb)
 *(.text._ZN9Commander20offboardControlCheckEv)
@@ -613,7 +578,6 @@
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)
-*(.text._ZN5PX4IO16io_handle_statusEt)
 *(.text._ZN15GyroCalibration3RunEv)
 *(.text.mavlink_start_uart_send)
 *(.text.MEM_DataCopy2)
@@ -647,7 +611,6 @@
 *(.text._ZN12FailsafeBase11updateDelayERKy)
 *(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
 *(.text._ZN4EKF218PublishGnssHgtBiasERKy)
-*(.text._ZN3Ekf21controlHaglFlowFusionEv)
 *(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
 *(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
 *(.text.__kernel_cos)
@@ -659,22 +622,18 @@
 *(.text._Z15blink_msg_statev)
 *(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN8Failsafe14fromGfActParamEi)
-*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
 *(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
-*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
+*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev) /* itcm-check-ignore */
 *(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
 *(.text._ZN17FlightTaskDescendC1Ev)
 *(.text._ZN26MavlinkStreamCameraTrigger8get_sizeEv)
 *(.text.iob_navail)
 *(.text._ZN12FailsafeBase25removeNonActivatedActionsEv)
-*(.text._ZN16PreFlightChecker28preFlightCheckHorizVelFailedERK23estimator_innovations_sf)
 *(.text._ZN15TakeoffHandling10updateRampEff)
 *(.text._Z7led_offi)
-*(.text._ZN16PreFlightChecker22selectHeadingTestLimitEv)
 *(.text.led_off)
 *(.text.udp_wrbuffer_test)
-*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
 *(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
 *(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
 *(.text._ZN12MixingOutput19updateSubscriptionsEb)
@@ -683,7 +642,6 @@
 *(.text._ZN18MavlinkStreamDebug8get_sizeEv)
 *(.text._ZN12GPSDriverUBX7receiveEj)
 *(.text._ZN13BatteryStatus21parameter_update_pollEb)
-*(.text._ZN3Ekf26checkYawAngleObservabilityEv)
 *(.text._ZN3RTL18updateDatamanCacheEv)
 *(.text.__ieee754_sqrtf)
 *(.text._ZThn24_N18mag_bias_estimator16MagBiasEstimator3RunEv)
@@ -701,11 +659,9 @@
 *(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
 *(.text.imxrt_padmux_address)
-*(.text._ZN3Ekf15setVelPosStatusEib)
 *(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
 *(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
 *(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN17ObstacleAvoidanceD1Ev)
 *(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
 *(.text.MEM_DataCopy2_1)
 *(.text._ZN6BMP3887measureEv)
@@ -713,7 +669,7 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
 *(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
 *(.text.up_clean_dcache)
-*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
+*(.text._ZThn24_N26MulticopterPositionControl3RunEv)
 *(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN13ManualControl12processInputEy)
 *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
@@ -725,9 +681,8 @@
 *(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
 *(.text._ZN6matrix8wrap_2piIfEET_S1_)
 *(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
-*(.text._ZN10BMP388_I2C7get_regEh)
+*(.text._ZN10BMP388_I2C7get_regEhPh)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
 *(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
 *(.text._ZN3RTL17parameters_updateEv)
 *(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
@@ -741,7 +696,6 @@
 *(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
 *(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
 *(.text._ZN8Geofence3runEv)
 *(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
 *(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
@@ -752,7 +706,6 @@
 *(.text.read)
 *(.text._ZN4uORB15PublicationBaseD1Ev)
 *(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
-*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
 *(.text._ZN7Mission11on_inactiveEv)
 *(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
 *(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)

boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld

@@ -3,7 +3,6 @@
 *(.text.arm_doirq)
 *(.text.arm_svcall)
 *(.text.arm_switchcontext)
-*(.text.board_autoled_on)
 *(.text.clock_timer)
 *(.text.exception_common)
 *(.text.flexio_irq_handler)
@@ -20,7 +19,6 @@
 *(.text.imxrt_endwait)
 *(.text.imxrt_enet_interrupt)
 *(.text.imxrt_enet_interrupt_work)
-*(.text.imxrt_gpio3_16_31_interrupt)
 *(.text.imxrt_interrupt)
 *(.text.imxrt_lpi2c_isr)
 *(.text.imxrt_lpspi_exchange)
@@ -105,13 +103,12 @@
 *(.text.devif_event_trigger)
 *(.text.devif_poll_icmp)
 *(.text.icmp_poll)
-*(.text.devif_packet_conversion)
 *(.text.arp_out)
 *(.text.arp_find)
 *(.text.arp_format)
-*(.text.net_ipv4addr_hdrcmp)
+*(.text.net_ipv4addr_hdrcmp) /* itcm-check-ignore */
-*(.text.net_ipv4addr_copy)
+*(.text.net_ipv4addr_copy) /* itcm-check-ignore */
-*(.text.net_ipv4addr_broadcast)
+*(.text.net_ipv4addr_broadcast) /* itcm-check-ignore */
 *(.text.wd_start)
 *(.text.arp_arpin)
 *(.text.ipv4_input)

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -2,7 +2,7 @@
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
-*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
+*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_) /* itcm-check-ignore */
 *(.text._ZN13MavlinkStream12get_size_avgEv)
 *(.text._ZN16ControlAllocator3RunEv)
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
@@ -57,7 +57,6 @@
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
@@ -68,7 +67,7 @@
 *(.text.nx_poll)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
+*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEERK9LatLonAltS8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
@@ -122,7 +121,6 @@
 *(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
 *(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
 *(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
-*(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
 *(.text.clock_nanosleep)
@@ -166,7 +164,7 @@
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
 *(.text.imxrt_dmach_start)
 *(.text._ZN3ADC19update_system_powerEy)
-*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
+*(.text._ZNK3Ekf19get_ekf_soln_statusEv)
 *(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
 *(.text.imxrt_gpio_read)
 *(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
@@ -193,11 +191,10 @@
 *(.text._ZN22MavlinkStreamGPSStatus4sendEv)
 *(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
 *(.text._ZN23MavlinkStreamStatustext4sendEv)
-*(.text._ZN3Ekf15constrainStatesEv)
 *(.text._ZN12PX4IO_serial4readEjPvj)
 *(.text.uart_poll)
 *(.text._ZN24MavlinkParametersManager4sendEv)
-*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
+*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_sf)
 *(.text.file_poll)
 *(.text.hrt_elapsed_time)
 *(.text._ZN7Mavlink11send_finishEv)
@@ -231,8 +228,7 @@
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
-*(.text._ZN3Ekf16fuseVelPosHeightEffi)
+*(.text._ZN3Ekf23controlBaroHeightFusionERKN9estimator9imuSampleE)
-*(.text._ZN3Ekf23controlBaroHeightFusionEv)
 *(.text._ZN16PX4Accelerometer9set_scaleEf)
 *(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
 *(.text._ZN22MavlinkStreamEfiStatus4sendEv)
@@ -242,13 +238,11 @@
 *(.text._ZN15PositionControl11_inputValidEv)
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
-*(.text._ZN3Ekf16controlMagFusionEv)
+*(.text._ZN3Ekf16controlMagFusionERKN9estimator9imuSampleE)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
 *(.text._ZN4uORB20SubscriptionInterval4copyEPv)
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
-*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
@@ -279,7 +273,7 @@
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
-*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
+*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
@@ -298,7 +292,7 @@
 *(.text._ZN25MavlinkStreamHomePosition4sendEv)
 *(.text._ZN24MavlinkParametersManager8send_oneEv)
 *(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
-*(.text._ZN21HealthAndArmingChecks6updateEb)
+*(.text._ZN21HealthAndArmingChecks6updateEbb)
 *(.text._ZThn24_N22MulticopterRateControl3RunEv)
 *(.text._ZN26MavlinkStreamManualControl4sendEv)
 *(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
@@ -307,13 +301,11 @@
 *(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
 *(.text._ZN10MavlinkFTP4sendEv)
 *(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
-*(.text._ZN3Ekf27controlExternalVisionFusionEv)
+*(.text._ZN3Ekf27controlExternalVisionFusionERKN9estimator9imuSampleE)
 *(.text.clock_gettime)
 *(.text._ZN3ADC17update_adc_reportEy)
-*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
-*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
 *(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
-*(.text._ZN9LockGuardD1Ev)
+*(.text._ZN9LockGuardD1Ev) /* itcm-check-ignore */
 *(.text._ZN4EKF213PublishStatesERKy)
 *(.text._ZN3ADC3RunEv)
 *(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
@@ -348,7 +340,7 @@
 *(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
 *(.text._ZN7Mavlink10send_startEi)
 *(.text.imxrt_lpspi_setbits)
-*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
+*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEff)
 *(.text._ZN4EKF222UpdateAccelCalibrationERKy)
 *(.text._ZN7sensors19VehicleMagnetometer3RunEv)
 *(.text._ZN29MavlinkStreamMountOrientation4sendEv)
@@ -363,15 +355,13 @@
 *(.text.poll)
 *(.text._ZN14FlightTaskAutoD1Ev)
 *(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
-*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
+*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator10gnssSampleE)
 *(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
 *(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
 *(.text._ZN22MavlinkStreamScaledIMU4sendEv)
-*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
 *(.text.imxrt_ioctl)
-*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
@@ -401,7 +391,7 @@
 *(.text._ZN9Commander11updateTunesEv)
 *(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
 *(.text._ZN18DataValidatorGroup3putEjyPKfmh)
-*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
+*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_S0_)
 *(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
 *(.text._ZN17FlightTaskDescendD1Ev)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
@@ -409,7 +399,6 @@
 *(.text._ZN24FlightTaskManualAltitudeD1Ev)
 *(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
 *(.text.uart_pollnotify)
-*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
@@ -440,7 +429,7 @@
 *(.text.clock_systime_timespec)
 *(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
 *(.text._ZThn16_N4EKF23RunEv)
-*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
+*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj24EEE)
 *(.text._ZN12ActuatorTest6updateEif)
 *(.text._ZN17VelocitySmoothingC1Efff)
 *(.text._ZN13AnalogBattery19get_voltage_channelEv)
@@ -458,7 +447,7 @@
 *(.text.imxrt_config_gpio)
 *(.text.nxsig_timeout)
 *(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
-*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
 *(.text.dq_addlast)
 *(.text._ZN19MavlinkStreamVFRHUD4sendEv)
 *(.text.hrt_call_reschedule)
@@ -482,14 +471,13 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
 *(.text.mallinfo_handler)
 *(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
-*(.text._ZN24ManualVelocitySmoothingZC1Ev)
+*(.text._ZN24ManualVelocitySmoothingZC1Ev) /* itcm-check-ignore */
 *(.text._ZN3ADC6sampleEj)
 *(.text._ZNK3Ekf22isTerrainEstimateValidEv)
-*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
+*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
 *(.text._ZN11ControlMath11addIfNotNanERff)
 *(.text._ZN9Commander21checkForMissionUpdateEv)
 *(.text._Z8set_tunei)
-*(.text._ZN3Ekf13stopGpsFusionEv)
 *(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
 *(.text._ZN10FlightTask22_checkEkfResetCountersEv)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
@@ -511,7 +499,6 @@
 *(.text.MEM_DataCopy2_2)
 *(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
 *(.text.sock_file_poll)
-*(.text._ZN3Ekf20controlHaglRngFusionEv)
 *(.text._ZN10Ringbuffer9pop_frontEPhj)
 *(.text.nx_write)
 *(.text._ZN9Commander18manualControlCheckEv)
@@ -533,7 +520,6 @@
 *(.text._ZN3LED5ioctlEP4fileim)
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
-*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
 *(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
 *(.text.imxrt_lpi2c_setclock)
 *(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
@@ -556,14 +542,12 @@
 *(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
 *(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
 *(.text.imxrt_periphclk_configure)
-*(.text._ZN3Ekf8initHaglEv)
 *(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
 *(.text._ZN3RTL11on_inactiveEv)
 *(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
@@ -581,7 +565,7 @@
 *(.text._ZN26MulticopterPositionControl3RunEv)
 *(.text._ZN8Failsafe21fromQuadchuteActParamEi)
 *(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
-*(.text._ZN7control15BlockDerivative6updateEf)
+*(.text._ZN7control15BlockDerivative6updateEf) /* itcm-check-ignore */
 *(.text._ZN5PX4IO10io_reg_getEhh)
 *(.text._ZN9Commander18safetyButtonUpdateEv)
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
@@ -590,7 +574,7 @@
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
 *(.text._ZN6Safety19safetyButtonHandlerEv)
-*(.text._ZN3Ekf19controlAuxVelFusionEv)
+*(.text._ZN3Ekf19controlAuxVelFusionERKN9estimator9imuSampleE)
 *(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
 *(.text._ZThn24_N7Sensors3RunEv)
 *(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
@@ -641,7 +625,6 @@
 *(.text._ZN12FailsafeBase11updateDelayERKy)
 *(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
 *(.text._ZN4EKF218PublishGnssHgtBiasERKy)
-*(.text._ZN3Ekf21controlHaglFlowFusionEv)
 *(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
 *(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
 *(.text.__kernel_cos)
@@ -653,9 +636,8 @@
 *(.text._Z15blink_msg_statev)
 *(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN8Failsafe14fromGfActParamEi)
-*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
 *(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
-*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
+*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev) /* itcm-check-ignore */
 *(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
 *(.text._ZN17FlightTaskDescendC1Ev)
@@ -666,7 +648,6 @@
 *(.text._Z7led_offi)
 *(.text.led_off)
 *(.text.udp_wrbuffer_test)
-*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
 *(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
 *(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
 *(.text._ZN12MixingOutput19updateSubscriptionsEb)
@@ -692,11 +673,9 @@
 *(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
 *(.text.imxrt_padmux_address)
-*(.text._ZN3Ekf15setVelPosStatusEib)
 *(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
 *(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
 *(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN17ObstacleAvoidanceD1Ev)
 *(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
 *(.text.MEM_DataCopy2_1)
 *(.text._ZN6BMP3887measureEv)
@@ -704,7 +683,7 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
 *(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
 *(.text.up_clean_dcache)
-*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
+*(.text._ZThn24_N26MulticopterPositionControl3RunEv)
 *(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN13ManualControl12processInputEy)
 *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
@@ -716,9 +695,8 @@
 *(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
 *(.text._ZN6matrix8wrap_2piIfEET_S1_)
 *(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
-*(.text._ZN10BMP388_I2C7get_regEh)
+*(.text._ZN10BMP388_I2C7get_regEhPh)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
 *(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
 *(.text._ZN3RTL17parameters_updateEv)
 *(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
@@ -732,7 +710,6 @@
 *(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
 *(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
 *(.text._ZN8Geofence3runEv)
 *(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
 *(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
@@ -743,7 +720,6 @@
 *(.text.read)
 *(.text._ZN4uORB15PublicationBaseD1Ev)
 *(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
-*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
 *(.text._ZN7Mission11on_inactiveEv)
 *(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
 *(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)