This will initialize those structs with zero in all fields not set
and all fields set will only be change once to the final value not
wasting CPU time zeroing it.
This will guarantee that no non-unitialized structs will have
a trash value on from_external causing it to be sent to the
MAVLink channel without need it.
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.
We need to protect access to the param_values array. This is dynamically
allocated and resized (utarray_reserve() calls realloc). If some thread
was iterating the array while another was resizing the array, the first one
would iterate on a freed array, thus accessing invalid memory.
On NuttX this could lead to hardfaults in rare conditions.
Unfortunately we need to initialize the semaphore on startup, by calling
sem_init(). This adds a param_init() method called by every board/config
that uses the params (at least I think I've found all of them)
<systemlib/err.h> --> "systemlib/err.h" that fix_headers.sh
would miss because it comes after code it doesn't understand.
Effectively remove the '__EXPORT extern perf_counter_t perf_alloc('
line, because currently perf_alloc is defined to be NULL, and
after running fix_headers.sh that happens *before* this header
is included (the order of headers will be changed).
Do not define NULL to be (void*)0: that only works for C.
In fact, the conversions needed for NULL are so full of exceptions
that standard C++ introduced a new *keyword*: nullptr.
That's what we really should be using for C++ code.
In this case I just include the correct header to define NULL
the correct way.
Not really related to the header line:
Removed an #include <time.h> because I noted that px4_time.h
was already included... and moved a #include <sys/time.h>
to the top of the file (not really a fan of including headers
in the middle unless absolutely necessary).
Removed a include of queue.h because I noted it wasn't used.
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.
app.h, generated from app.h_in, has unnecessary code duplication
and isn't a header file (it defines globals, static functions
and doesn't have a header guard, moreover, it has a 'using namespace
std;'). Because of this, a real headerfile that declares the stuff
defined in apps.h was missing leading to even more code duplication:
scattered forward declarations in .cpp files and an often repeated
type of std::map<std::string, px4_main_t>.
This patch moves cmake/qurt/apps.h_in to src/platforms/apps.cpp.in
(with some changes) and removes cmake/posix/apps.h_in.
Then src/platforms/apps.cpp.in is split into src/platforms/apps.cpp.in
and src/platforms/apps.h.in, splitting declarations from definitions.
A typedef is defined for the map (apps_map_type).
The main difference between cmake/posix/apps.h_in and
cmake/qurt/apps.h_in was that the first defined a global 'apps',
while qurt stores the apps in QShell. I opted to get rid of
the global variable (which are in general evil for various reasons)
and used the API of cmake/qurt/apps.h_in where a provided 'apps'
map is initialized with a call to init_app_map. Thus removing
the existing code duplication.
It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
* Low impact changes from path_cleanup branch.
This is a step towards minimizing the diff with path_cleanup branch.
* Update ecl.
* Revert matrix update.
* Revert ecl and matrix.
* Update sitl gazebo.
* Revert sitl_gazebo and matrix changes.
Daniel Agar