fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 23:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

boards: add CONSTRAINED_MEMORY build option

Browse Source 
- 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+7 -2
View File
@@ -111,7 +111,7 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
// Control allocaton topics
// Control allocation topics
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_thrust_setpoint", 20);
@@ -126,7 +126,12 @@ void LoggedTopics::add_default_topics()
add_topic_multi("telemetry_status", 1000, 4);
// EKF multi topics (currently max 9 estimators)
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 4;
#if CONSTRAINED_MEMORY
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 2;
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificailly limited until PlotJuggler fixed
#endif
add_topic("estimator_selector_status");
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);