This backend will keep all updated data in RAM and
persist the data between reboots using flash memory.
Using only flash memory would result in a slow backend that
would decrease the lifetime of the flash memory, using both
we can reduce the several cycles of erase & write into flash
and keep the performance of the backend almost as fast
as the RAM only backend.
Note: Do not use this backend on a sector from the same flash memory
bank as the memory bank that STM32 read instructions or it can block
the CPU from fetching instructions from flash during the erase and
write operations and cause your drone crash.
The initialization code is redundant and incomplete (only the first sensor
is done). I verified that all drivers already set this on startup.
For the mags, they all set their maximum supported update rate.
For the baro, the call can silently fail, as for example the MS5611 which
does not support 150Hz update. But it also sets the maximum in
initialization.
Tested on Pixhawk & pixracer.
In HIL mode we do not start the sensors anymore, so this is not needed.
Also it did not work (I did not try to find the reason, just noticed the
sensors kept publishing in HIL mode)
On SITL startup we got a datalink lost failsafe message whenever home
was initialized. The reason that in standalone SITL, there is usually no
datalink connected. However, on ground, we shouldn't really failsafe,
therefore it makes sense not to enter the state in the first place.
logger will always log this topic, and a 0 timestamp will look worse in
FlightPlot. This will show a period of 0 attitude instead before ekf
is initialized.
if a parameter name was 16 characters long (which is valid), the last
character got truncated due to 0-terminated string.
This raises the param name to 64 chars, which is quite wasteful, but there
is no other length in between.
vehicle_status_flags_pub passed to publish_status_flags() was always null,
thus orb_advertise() was called each time.
Note that it did not produce a memory leak.
This does the following if given:
- don't initialize the sensors (the sensor drivers are not started)
- publish sensor_combined even in hil mode
- do not apply or publish thermal corrections
Daniel Agar