Merged beta into master

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -203,7 +203,7 @@ int AttitudeEstimatorQ::start() {
 	_control_task = px4_task_spawn_cmd("attitude_estimator_q",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2500,
+				       2000,
 				       (px4_main_t)&AttitudeEstimatorQ::task_main_trampoline,
 				       nullptr);
 

src/modules/commander/commander.cpp

@@ -281,7 +281,7 @@ int commander_main(int argc, char *argv[])
 	if (!strcmp(argv[1], "start")) {
 
 		if (thread_running) {
-			warnx("commander already running");
+			warnx("already running");
 			/* this is not an error */
 			return 0;
 		}
@@ -294,11 +294,18 @@ int commander_main(int argc, char *argv[])
 					     commander_thread_main,
 					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
 
-		while (!thread_running) {
-			usleep(200);
+		unsigned constexpr max_wait_us = 1000000;
+		unsigned constexpr max_wait_steps = 2000;
+
+		unsigned i;
+		for (i = 0; i < max_wait_steps; i++) {
+			usleep(max_wait_us / max_wait_steps);
+			if (thread_running) {
+				break;
+			}
 		}
 
-		return 0;
+		return !(i < max_wait_steps);
 	}
 
 	if (!strcmp(argv[1], "stop")) {

src/modules/mavlink/mavlink_main.cpp

@@ -1960,6 +1960,12 @@ Mavlink::start(int argc, char *argv[])
 	// before returning to the shell
 	int ic = Mavlink::instance_count();
 
+	if (ic == MAVLINK_COMM_NUM_BUFFERS) {
+		warnx("Maximum MAVLink instance count of %d reached.",
+			(int)MAVLINK_COMM_NUM_BUFFERS);
+		return 1;
+	}
+
 	// Instantiate thread
 	char buf[24];
 	sprintf(buf, "mavlink_if%d", ic);

src/modules/mavlink/module.mk

@@ -54,6 +54,6 @@ MAXOPTIMIZATION	 = -Os
 
 MODULE_STACKSIZE = 1200
 
-EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed
+EXTRACXXFLAGS	= -Weffc++ -Wno-attributes -Wno-packed -DMAVLINK_COMM_NUM_BUFFERS=3
 
-EXTRACFLAGS	= -Wno-packed
+EXTRACFLAGS	= -Wno-packed -DMAVLINK_COMM_NUM_BUFFERS=3

src/modules/sdlog2/sdlog2.c

@@ -346,7 +346,20 @@ int sdlog2_main(int argc, char *argv[])
 						 3000,
 						 sdlog2_thread_main,
 						 (char * const *)argv);
-		return 0;
+
+		/* wait for the task to launch */
+		unsigned const max_wait_us = 1000000;
+		unsigned const max_wait_steps = 2000;
+
+		unsigned i;
+		for (i = 0; i < max_wait_steps; i++) {
+			usleep(max_wait_us / max_wait_steps);
+			if (thread_running) {
+				break;
+			}
+		}
+
+		return !(i < max_wait_steps);
 	}
 
 	if (!strcmp(argv[1], "stop")) {
@@ -1236,8 +1249,6 @@ int sdlog2_thread_main(int argc, char *argv[])
 	/* close stdout */
 	close(1);
 
-	thread_running = true;
-
 	/* initialize thread synchronization */
 	pthread_mutex_init(&logbuffer_mutex, NULL);
 	pthread_cond_init(&logbuffer_cond, NULL);
@@ -1271,6 +1282,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 		sdlog2_start_log();
 	}
 
+	/* running, report */
+	thread_running = true;
+
 	while (!main_thread_should_exit) {
 		usleep(sleep_delay);
 

src/modules/systemlib/cpuload.c

@@ -80,8 +80,6 @@ void cpuload_initialize_once()
 		system_load.tasks[i].valid = false;
 	}
 
-	uint64_t now = hrt_absolute_time();
-
 	int static_tasks_count = 2;	// there are at least 2 threads that should be initialized statically - "idle" and "init"
 
 #ifdef CONFIG_PAGING
@@ -96,7 +94,6 @@ void cpuload_initialize_once()
 
 	// perform static initialization of "system" threads
 	for (system_load.total_count = 0; system_load.total_count < static_tasks_count; system_load.total_count++) {
-		system_load.tasks[system_load.total_count].start_time = now;
 		system_load.tasks[system_load.total_count].total_runtime = 0;
 		system_load.tasks[system_load.total_count].curr_start_time = 0;
 		system_load.tasks[system_load.total_count].tcb = sched_gettcb(
@@ -113,7 +110,6 @@ void sched_note_start(FAR struct tcb_s *tcb)
 	for (i = 1; i < CONFIG_MAX_TASKS; i++) {
 		if (!system_load.tasks[i].valid) {
 			/* slot is available */
-			system_load.tasks[i].start_time = hrt_absolute_time();
 			system_load.tasks[i].total_runtime = 0;
 			system_load.tasks[i].curr_start_time = 0;
 			system_load.tasks[i].tcb = tcb;

src/modules/systemlib/cpuload.h

@@ -42,7 +42,6 @@ __BEGIN_DECLS
 struct system_load_taskinfo_s {
 	uint64_t total_runtime;			///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
 	uint64_t curr_start_time;		///< Start time of the current scheduling slot
-	uint64_t start_time;			///< FIRST start time of task
 #ifdef __PX4_NUTTX
 	FAR struct tcb_s *tcb;			///<
 #endif