* Changed M_PI to M_PI_F in the matrix library since M_PI is non-standard.
* Added a new M_PI_PRECISE constant definition to px4_platform_common/defines.h to be
used in places when M_PI is desired but shouldn't be used because it is not C standard.
* Added the px4_platform_common/defines.h include to the matrix library math.hpp header to pull
in some non-standard M_PI constants and updated the test files to use those constants.
* Fixed PI constants in matrix helper test to prevent test failure
- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
This removes the odd px4_i2c_bus_external override which was confusing
me and lead to odd and inconsistent results.
The function is now only available with an int as the argument.
- To check stack smashing (buffer overflow)
- To check if the buffer without enough length gets appropriate values
filled
- To check if the format has expected length
- Previously, not having a proper boundary check caused overflows in the
buffer (wrong memory access)
- Moreoever, negative size values getting introduced to snprintf &
strncat were also being truncated to unsigned value, hence causing
overflow, so index check needed to be added before both functions
- Fixed typo in board_common.h
Move logic implemented in the header files to source files, this way
it will be simpler to define which is compiled to kernel space and
which to user space
Also allows to remove some headers that pull in half the universe
from the board definitions (which should just be pin definitions and
no functionality)
- 4096 of 3 hex digits each for rev and ver is enough.
#defines used in SPI versions do not be long format, use use the macro
- Board provides a prefix and the formatting is sized and built in
- No need for funky board_get_base_eeprom_mtd_manifest interface
Original mft is used where the abstraction is done with the MFT interface
Co-authored-by: David Sidrane <David.Sidrane@Nscdg.com>
Move some logic from Subscriber into uORBManager. This reduces calls from the
modules to the uORB manager, improving performance in protected build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
It was a mistake to mix these two together, it is simpler to implement the boardctl interface
for the protected build, if the boardctl ioctls are different
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
When building uORB for NuttX flat build, or for some other target, everything
works as before.
When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
kernel side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This is the case for boards with digital readout, like v5x, but still
enable the battery_status module for external analog driver options.
An alternative would be to not run battery_status depending on config.
Since uORB is split into kernel and userspace parts, it is no longer possible to just
link uORB into px4_platform, which is used in both kernel and user side.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
