known issues:
- flash-based params does not work on H7 (due to ECC), so params are on
SD card. The last flash sector is still reserved however.
- output channel 6 does not support DShot (the implementation does not
handle channel gaps)
- flashing of the 2. flash bank is much slower (around 3x), than the 1.
bank for some unknown reason.
- after the BL jumps to the app, there's several seconds passing until
stm32_boardinitialize() is called.
This enables flow control on CDCACM for the NuttX boards which fixes a
problem where HITL would stall.
The stall could happen if the hardware would be a bit too slow in
keeping up with the incoming messages. Often, this happened on arming
because the logger would take some time to log all parameters right at
the beginning.
The stall would then not recover due to NuttX bug where the rx interrupt
would not be restored correctly and instead only a slower watchdog would
release the next read. This watchdog takes 200ms which means it's hard
to impossible to get out of the situation without restarting sim and/or
PX4. For more information about the issue, see:
apache/incubator-nuttx#3633
As a workaround, until that bug is fixed, and because it makes sense
anyway, I propose to enable FLOWCONTROL for the serial via USB.
- cmake NuttX build wrapper compile in place instead of copying source tree to build directory
- slightly faster skipping necessary copying (depending on system)
- allows debugging in place
- easier to work directly in NuttX following official documentation
- simplifies overall build which should make it easier to resolve any remaining NuttX dependency issues in the build system
- the downside is switching back and forth between different builds always require rebuilding NuttX, but I think this is worth the improved developer experience
- also no longer builds px4io and bootloader in every single build, for most users these rarely change and we're wasting a lot of build time
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
Beat Küng