The mixer was creating a new class in interrupt context, which is not valid use in NuttX. This change copies the mixer into the buffer and runs the mixer management section of the code outside of interrupt context in the normal task.
* NuttX cmake
* px4_macros:Pass the stringified predicate as second arg to static assert
CC_ASSERT mapes to the c++ static_assert or provides the same
funtionality for c via the other macros. The c++ static assert
takes 2 argumants the prdicate and a message. This fixes the
lacking second argument.
* Updated nuttx and apps submodule to upstream nuttx 7.21+==master
This is the latest uptake of upstream nuttx and apps.
* ROMFS generate with xxd instead of objcopy
* delete nuttx-patches
* NuttX update submodules to latest px4_nuttx-master
* fix nuttx apps and board dependency
* docker_run update to latest container 2017-08-29
* cmake ROMFS portable sed usage
* NuttX update submodules to latest px4_nuttx-master
was:<nuttx/arch.h> is:platform/cxxinitialize.h
Removed PX4 version:src/modules/systemlib/up_cxxinitialize.c
in favor of nuttx platform/gnu/gnu_cxxinitialize.c
was:<nuttx/arch.h> is:platform/cxxinitialize.h
Removed PX4 version:src/modules/systemlib/up_cxxinitialize.c
in favor of nuttx platform/gnu/gnu_cxxinitialize.c
IO needs atomic updates of a few critical status flags, but doing these always atomic (with interrupts disabled) might cause a too high interrupts disabled interval. In order to avoid this only operations that change the state of the target variable are done with interrupts disabled, while operations without an effect on the target variable are not executed.
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
this fixes a race condition between the DMA completion handler
updating registers in px4io and the mixer used for handling the
override state. The register set code could set r_page_servos[]
between the time when pwm_limit_calc() is called and the servos are
actually output.
This change makes the mixer load and reset operation closer to thread-safe. It was guarded one-way before and in only one location. This change ensures that its being locked out from both directions. The accesses to the locking variables still need work because they are non-atomic.
Daniel Agar