Our serial_test showed only ~84kB/s with the default 256 RX buffer size
with significant ~2.5ms periods of the flow control RTS pin being
asserted. Increasing size to 600 (same as FMU-v5x) brings the throughput
only to ~190kB/s, while a size of >1500 achieves ~350kB/s. Larger RX
buffers do not increase throughput anymore, while the theoretical
maximum is 375kB/s.
Transmit buffer size is increased to 10kB same as on FMUv5x to prevent
any future differences in queue behavior and throughput. serial_test
showed ~350kB/s throughput at 3kB TX buffer size, so this is just a
precaution.
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
- for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
When flow control is used together with DMA, we need to add a pulldown
to CTS. Without it, it assumes flow control and gets stuck when
CTS is not connected.
Signed-off-by: Julian Oes <julian@oes.ch>
This fixes the case where the hardware detection fails on CubeBlack when
a CAN device is connected to CAN1 and talking, and therefore preventing
the check from getting a clear result.
Signed-off-by: Julian Oes <julian@oes.ch>
This consolidates the version/revision detection function.
This should allow for actual changes in a follow up commit.
Signed-off-by: Julian Oes <julian@oes.ch>
* Cyphal: fix comparing floating-point issue
* Cyphal: fix setpoint serialization
* Cyphal: fix bug with wrong comparasion of param name and pub/sub name: remove prefix from UavcanPublisher::updateParam and UavcanDynamicPortSubscriber::updateParam and PublicationManager::updateDynamicPublications
* Cyphal: integrate UavcanEscController with PublicationManager, remove second instance of UavcanEscController from CyphalNode
* Cyphal: publish readiness with minimal frequency because according to UDRAL The drive shall enter STANDBY state automatically if the readiness subject is not updated for CONTROL_TIMEOUT
* Cyphal: increase setpoint publish rate from ~75 to 200 by removing PX4_INFO (it really significantly react on the the output rate) and changing the mixing output rate and the shedule interval
* Cyphal: restore prefix because we need it for uorb over uavcan/cyphal and add udral prefix for non uorb pub/sub
* Cyphal: fix DynamicPortSubscriber subscription: if it has multiple subscribers, it should call subscription only after updating of all port subscribers port identifiers
* Cyphal: fix SubscriptionManager: we should take care about prefix
* Cyphal: fix readiness for test motor mode
* [Cyphal] Fix dynamicsubscription, improve printinfo, enable MR-CANHUBK3 config
---------
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
- during casual testing on default configs the stack was penetration was reaching ~90% which is a bit too close for comfort
- increasing by 50% to be conservative
* Fixedwing rate control into a separate module
* Start fw_rate_control for vtol
* Move over airspeed related parameters to fw_rate_control
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
