Run at sensor_combined speed and publish all other sensors occuring
between 2 sonsor_combined samples.
This allows a crude replay in case ekf2 replay was not enabled during
the flight.
readAndAddSubscription uses nextDataMessage to find the first
corresponding data and nextDataMessage calls readAndAddSubscription
when it finds a new message definition.
Reduces flash usage by ~16KB.
- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
https://github.com/atomicobject/heatshrink
- all sources of optical flow publish sensor_optical_flow
- sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow
Co-authored-by: alexklimaj <alex@arkelectron.com>
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
_subscriptions is a vector that is resized when needed. However there could
still be references to elements in the vector when the resize happens.
These references then become invalid.
Using a vector of pointers fixes that.
_uorb_topics_list was marked as 'const char *' array, which means the data
of the array was not actually const and thus landed in the data section
(so in RAM instead of FLASH).
The size of the array is 436 bytes.
bresch