The reason for this change is that RPi2 and RPi3 are compatible, and
hopefully all differences coming up can be resolved without ifdefs but
at runtime.
* logger: disable some default topics, which are most likely not used
This is also to safe CPU and lower the amount of file descriptors used.
* logger: use the hrt timer for more accurate scheduling
Under NuttX with the default rate of 285Hz, the actual measured rate was
only 200Hz while on Linux it was ~280Hz. The reason is that NuttX only
uses a usleep() granularity of 1ms, so that the typical sleep time is
longer than what we set.
Now the logger waits on a semaphore, which gets activated periodically
with a hrt timer. With this the measured rate is exactly the expected one,
285Hz.
This fixes a bug with following setup:
- two (or N > 1) connected gyros
- ekf2 enabled
In this case, sensors would publish with the combined rate of the gyros,
but with N following messages having the same gyro data & timestamp.
Apparently ekf2 cannot handle this, the other estimators can.
We may want to rethink what the proper solution is here.
The MavlinkOrbSubscription only had an interface to either always copy
or copy based on a timestamp. This commit adds a copy interface if the
topic has been updated.
since pure manual control for fixed wings in handled on the io side
the scale parameters for roll, pitch and yaw had to be introduced there
as well.
Signed-off-by: Roman <bapstr@ethz.ch>
__STDC_FORMAT_MACROS changes the behavior of inttypes.h to allow
defining format macros for printf-like functions. It needs to be defined
before any include is done, otherwise due to include chains and header
guards it may not take effect.
Instead of having to define it everywhere it is used, move the define to the
build system. Also update ecl and DriverFramework submodules to deal with the
changed definitions.
Previously, the MAX and MIN were both 512 meaning that usually it would
start writing at > 512 bytes but only write 512 bytes which results in
a 512 bytes write shortly followed by a e.g. 30 bytes write.
Also, performance (measured in missed poll updates) seems slightly
better on Snapdragon with bigger chunks.
