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.
This allows concurrent read access, which are much more common; reducing
potential lock contention and increasing concurrency.
Taking a lock is expensive, and the reader lock is now even more expensive.
An RCU synchronization scheme would reduce the overhead of the readers to
increasing/decreasing an atomic counter.
Thus this should only be an intermediate step until we move towards RCU.
Tested on SITL & Pixracer.
param_t is only used as an offset and we have <1000 params, so an uint16_t
is enough.
This saves roughly 1KB of RAM. We only do that on NuttX because normal
integers have better performance in general.
Previously on amd64, this was even 64bits because it was an uintptr_t.
This further speeds up param loading.
On Pixracer via USB, it's possible to send up to 11 at once before the TX
buffer gets full, so there is still enough free bandwidth left.
This speeds up parameter loading. Slow links like telemetry are unaffected,
since the mavlink loop runs only with ~100Hz.
Tested on various links, like:
- telemetry link
- pixracer WiFi
- pixracer USB
- SITL
Henry Zhang