These are some changes that I needed to compile
most of the unsupported targets.
After this all (make list_config_targets) compile
for me except: posix_eagle_muorb, posix_sdflight_default
and qurt_eagle_legacy_driver_default.
This is the equivalent to Greg's upstream solution for ctype.h &
cctype with the necessary shadow waning fix.
It also deletes the Hack in pa4_defines.h
This change fixes a wrong behaviour when a takeoff command is sent.
An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters
Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters
New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
overridden.
In the normal sitl `commander takeoff` case, the takeoff jump was never
actually carried out because the default altitude radius is set to 3m
and the takeoff altitude to ~2m which means that the takeoff waypoint is
"reached" immediately.
This works around this edge case by using the altitude between the home
altitude and takeoff altitude divided by 2 as a acceptance radius.
Since orb_copy is guarded with a orb_check, we ended up not having the
corrent landed state in the beginning which could lead to some
unexpected behaviour on takeoff.
In most cases, _extern_address was unused, thus wasting cycles & RAM. This
adds a separate class BlockParamExt with the field and uses it in ekf2_main
Frees roughly 0.5KB of RAM on Pixracer
The lifetime of the string is guaranteed because we never delete
DeviceNode objects and the strings in question are already on the heap.
This frees roughly 2.2KB of RAM on Pixracer
reorder & reduce instance to uint8_t (which is more than enough).
Reduces sizeof(MavlinkOrbSubscription) from 40 to 24.
On Pixracer this frees almost 2KB of RAM
The limits the maximum queue size to 255, which I think is ok for the
forseable future.
sizeof(uORB::DeviceNode) is reduces from 128 to 112 on NuttX, and with
~80 instances, this saves over 1KB of RAM.
Instead use a single timestamp for subscription checks. This frees up
~800B of RAM.
Also make sure the subscription checks are distributed over time. On each
update, at most 1 topic subscription is checked. Reduces the load of the
logger from 7.3% to 5.8% (Pixracer)
ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
members of msg could end up unaligned, because of the uint8_t buffer.
Erik Jähne