perf_counters is read from and written to by different threads and thus
requires synchronization. Without it we risk accessing invalid memory.
There are still remaining issues (see comment in code), they will not lead
to a crash however.
Instead of printing to an fd, this prints to a buffer and calls a callback
for each line. To avoid code duplication, the print_load has been refactored
to print to a buffer first, then print to an fd. The overhead is not
noticable, and the behavior of print_load is unchanged.
what could have gone wrong before? A scheduling switch during the printload
could have led to a task exit, rendering the tcb invalid. After switching
back, printload would access invalid memory.
This keeps the sched_lock() section as small as possible, just grabbing the
tcb variables we need.
Just to make sure that it will never be used on NuttX. This is not an
architectural limitation, just a memory optimization, since we call
clearenv() on NuttX.
change fmu to task
increase fmu_servo task priority to max and enable true oneshot
use lowest FMU priority which minimizes jitter
constrain oneshot updates to control group 0 events
* mc_pos_control: use just float for vel and cruise in xy
* mc_pos_control: stick map saturate magnitude to 1
* mc_pos_control: take minimum cruising speed for auto
* mc_pos_control: cruise speed triplet higher than from mc_pos_control
mc_pos_control: fix if for cruise in auto
* mc_pos_control: use PX4_ISFINITE criteria
32 bits are still enough to measure elapsed times up to 1 hour.
Testing on Pixracer: I counted 73 allocations and 39 frees during bootup,
resulting in 2kB RAM usage after boot. This patch reduce this by ~0.5kB.
* UAVCAN ESC output: removing ESC output channels from published message that are always zero. This allows the UAVCAN stack to always transfer only the minimum number of output values, avoiding redundant zeroes and the associated increase in bus load and CPU time
* Added a separate mixer file for CAN quadrotor
* Sampling profiler improvements
* PMSP: Output more endpoints
* Matrix update
* libc usage workaround
* Removed UAVCAN perfcounters
* Matrix submodule update
* UAVCAN ESC output: removing ESC output channels from published message that are always zero. This allows the UAVCAN stack to always transfer only the minimum number of output values, avoiding redundant zeroes and the associated increase in bus load and CPU time
* Added a separate mixer file for CAN quadrotor
* Sampling profiler improvements
* PMSP: Output more endpoints
* Matrix update
* libc usage workaround
* Removed UAVCAN perfcounters
In order to ensure correct transmission the mission system needs to default to the legacy protocol and switch to the new implementation when these conditions are met:
* If the GCS sends a MISSION_REQUEST_INT - it will do this based on the AUTOPILOT_VERSION flag indicating int mission support
* If the autopilot sends a MISSION_REQUEST and has the AUTOPILOT_VERSION flag for 2.0 set, the GCS should NACK it, which will make the autopilot retry a MISSION_REQUEST_INT
* If the autopilot sends a MISSION_REQUEST_INT and the GCS does not support it, the GCS will ignore and time out. The autopilot could retry now opportunistically with the old protocol, but this is not great for lossy links.
* If the GCS sends a MISSION_ITEM_INT - this is a fallback
param_save_default() could take something like 0.5s, and because the
LandDetector is running on the HP work queue, this would block other
tasks, like RC handling or drivers.
Beat Küng