Workaround required Eigen downgrade to 3.2. Hexagon toolchain does
not support C++11 features of newest version of Eigen.
Running make qurt_fixup will downgrade and patch Eigen for qurt.
Running make restore will revert the patch and do a git submodule update
to restore the expected Eigen version.
Added a "restore" target to undo qurt_fixup
Before doing a qurt build run:
make qurt_fixup
That will downgrade Eigen to 3.2 and apply the require patch.
To build another target after downgrading:
make restore
Them make the desired target (other than qurt).
Fixed type used in orb_priority to be consistent with the code
(int* was used in declaration but int32_t* used in code)
Removed unused class member variable in sensors.cpp
Added cmake fix for unit tests. The location of px4_log.c changed.
Fixed the qurt drv_hrt.c implementation to use us instead of ms for time resolution
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with
duplicate files. It was moved out of common because it is not used by qurt.
Changed PX4_DEBUG to PX4_WARN when checking for the error condition for store_poll_waiter in vdev.cpp
Updated the px4_log.h file to make calls to the qurt_log functions.
The qurt_log function is defined in the platforms/qurt layer.
Added an option to control starting the commander module in HIL mode.
Moved the flight specific drivers to the configuration file instead of adding them
to the common tool chain file because HIL mode does not need them.
Added the uorb Subscriber and Publisher classes
Call PX4_ISFINITE macro instead of isfinite().
Added px4_led.c to nuttx platform layer
Use the posix version of px4_led.c for nuttx so we don't end up with duplicate files.
It was moved out of common because it is not used by qurt.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Replaced test for __PX4_QURT with test for NAV_DEBUG.
Optimized implementation to remove code when flag is not set.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Ifdefed out deadcode in position_estimator_inav_main.c as the
deadcode does not compile for qurt.
Added fixes to get a successful build for posix-arm and qurt targets.
Removed CLOCK_REALTIME def from px4_time.h for qurt and removed unused
variables in att_est_q and mc_att_control.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
There is a race condition for the accel and mag polling rates.
Whichever one gets set first, the other will be uninitialized.
Set the mag polling rate to 1ms if uninitilized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The HRT call processing normally happens via HW timer interrupt
handler. Since the POSIX port has no ISR handling, the HP work
queue is used.
Instead of irq_save() and irq_restore() calls to disable/enable
interrupts, a mutex is used to protect each queue.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Changed "linux" target to "posix". Most of the changes are shared with
QuRT and with OSX. The Linux specific parts are in for i2c which uses
<linux/i2c.h> and <linux/i2c-dev.h>.
There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is
not supported.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
PX4 uses NuttX data structures throughout so those data structures
were preserved and used to implement high and low priority queues.
A unit test for the work queues was added.
The polling rate of the queues are set in px4_config.h in
CONFIG_SCHED_WORKPERIOD. The units are milliseconds.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Added more queue support to linux/px4_layer.
Use virt char devices for ms5611, and mavlink.
Added more HRT functionality. uORB latency test
now fails. Likely due to bad HRT impl for Linux.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
Lorenz Meier