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boards: add CONSTRAINED_MEMORY build option

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- currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed
 - limits number of EKF2 multi instances to 2.
 - enabled on all cortex m4 boards
This commit is contained in:
Daniel Agar
2021-02-01 08:56:22 +01:00
committed by Lorenz Meier
parent 834ac38841
commit 78dff6adcb
41 changed files with 70 additions and 7 deletions
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src/modules/ekf2/EKF2Selector.hpp
+11 -3
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@@ -53,8 +53,11 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_odometry.h>
static constexpr uint8_t EKF2_MAX_INSTANCES{9};
static_assert(EKF2_MAX_INSTANCES <= ORB_MULTI_MAX_INSTANCES, "EKF2_MAX_INSTANCES must be <= ORB_MULTI_MAX_INSTANCES");
#if CONSTRAINED_MEMORY
# define EKF2_MAX_INSTANCES 2
#else
# define EKF2_MAX_INSTANCES 9
#endif
using namespace time_literals;
@@ -84,6 +87,7 @@ private:
// Subscriptions (per estimator instance)
struct EstimatorInstance {
EstimatorInstance(EKF2Selector *selector, uint8_t i) :
estimator_attitude_sub{selector, ORB_ID(estimator_attitude), i},
estimator_status_sub{selector, ORB_ID(estimator_status), i},
@@ -119,13 +123,17 @@ private:
EstimatorInstance _instance[EKF2_MAX_INSTANCES] {
{this, 0},
{this, 1},
#if EKF2_MAX_INSTANCES > 2
{this, 2},
{this, 3},
#if EKF2_MAX_INSTANCES > 4
{this, 4},
{this, 5},
{this, 6},
{this, 7},
{this, 8},
#endif
#endif
};
static constexpr uint8_t IMU_STATUS_SIZE = (sizeof(sensors_status_imu_s::gyro_inconsistency_rad_s) / sizeof(
@@ -136,7 +144,7 @@ private:
static_assert(IMU_STATUS_SIZE == sizeof(estimator_selector_status_s::accumulated_accel_error) / sizeof(
estimator_selector_status_s::accumulated_accel_error[0]),
"increase estimator_selector_status_s::accumulated_accel_error size");
static_assert(EKF2_MAX_INSTANCES == sizeof(estimator_selector_status_s::combined_test_ratio) / sizeof(
static_assert(EKF2_MAX_INSTANCES <= sizeof(estimator_selector_status_s::combined_test_ratio) / sizeof(
estimator_selector_status_s::combined_test_ratio[0]),
"increase estimator_selector_status_s::combined_test_ratio size");