On Linux targets with high-rate external sensor data (>1000Hz), all
sensor calibrations (gyro, accel, mag) can freeze PX4 by starving
other threads of CPU. Normal flight is unaffected — only calibration
triggers the problem.
Two compounding issues in the calibration worker threads:
1. calibrate_cancel_check() creates a new uORB::Subscription on every
call, which triggers getDeviceNodeLocked() — an O(n) linear strcmp
scan through all uORB nodes. In gyro/mag calibration this was called
on every sensor sample, consuming the majority of CPU in strcmp alone.
2. SubscriptionBlocking::updatedBlocking() returns immediately when data
is already available (it only blocks when no data is pending). With
continuous high-rate sensor data, the calibration loops never yield,
spinning at 100% CPU.
These problems are addressed with this patch as follows:
- Throttle calibrate_cancel_check() to once per 200ms in gyro
and mag calibration loops.
- Add 1ms px4_usleep() yield before updatedBlocking()/updateBlocking()
in all calibration loops (gyro, accel, mag, orientation detection).
This caps the effective loop rate at ~1000Hz — still far above what
calibration needs (250-750 samples).
- Force Commander main loop to sleep during calibration so it does not
compete with calibration worker threads for CPU.
Tested under Linux (x64, aarch64) both with RT and non-RT scheduling,
with sensor data arriving at ~3600Hz. Calibration completes normally
and no longer results in a deadlocked process.
* feat: implement UAVCAN LED control for individual light control and assignment
* uavcan led: nit-picks from review
* uavcan led: reduce maximum number of lights
to avoid unused parameters
* uavcan led: simplify anticolision on check
* uavcan led: correctly map 8-bit RGB to rgb565
* Trim param name character arrays to 17
16 characters + \0 termination
* uavcan led: final nit-picks
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Co-authored-by: Matthias Grob <maetugr@gmail.com>
previous to this
09d79b221f
set `esc_online_flags` e.g. for UAVCAN ESCs which specific one is online and that then got compared to a mask where the first `esc_count` bits were set.
So if only ESC 5 is mapped and online you get the message "ESC 156 offline" because `esc_online_flags = 0b1000` gets compared to `online_bitmask = 0b1` based on `esc_count = 1` and the motor index is `esc[0].actuator_function = 0` wrapped using `0 - actuator_motors_s::ACTUATOR_FUNCTION_MOTOR1 + 1 = 156`.
The first test makes sure the user can take over when an RTL failsafe was triggered but degraded to a Land.
The second test rules out the easiest fix of removing the condition `_selected_action == selected_action` which causes the problem for test one but is there for a reason.
* added vehicle command and support to remotely activate/deactivate the safety system (#26078)
* added print_status support for prearm safety status
* updated safety button to map to MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = '5300'
* safety switch cmd: fixed incorrect catch-all and added commanded_state variable for easier reading
When operating fully autonomously (i.e., without manual control or a guaranteed link to the ground station), tuning a vehicle can be difficult since the current autotune process requires either RC input or a GCS command. For these scenarios, it it useful to be able to start autotune inside a mission.
The mode executor can run land mode which updates the home position to the landing location. This
can be not the desirable behavior and the home position should stay at the original location.
A flag is added to the configuration overrides to control if the home position is updated or not.
Some modes should only be run within the context of a mode executor and the user should not be able
to select them in the GCS. With this change, the external component registration request can be
used to set if a mode is selectable or not.
ttechnick