- the flash-backend is selected by specifying nullptr as file or -1 as fd
- the default file is nullptr, and thus the FLASH
- 'param select' has no effect, FLASH is always the default
Thus there should be no functional change to existing setups.
To run:
cd src/lib/mixer
make tests
This will validate the C++ implementation by taking the python
implementation as ground-truth. It runs through various actuator control
command values for all airmode variations and several mixer types.
The python script also allows to prototype new mixer algorithms.
It is not integrated into the existing build system, because it's easier
to use that way, with less dependencies, and faster testing workflow.
It could however be a bit more integrated.
Reference: https://github.com/Auterion/Flight_Control_Prototyping_Scripts/tree/master/control_allocation
You can now add `DYNAMIC` as an option to `px4_add_module`, which will
cause that module to no longer be compiled into the px4 executable, but
instead produce a separate shared library file, which can be loaded and
executed with the new `dyn` command:
pxh> dyn ./hello.px4mod start
This will load the shared object file `hello.px4mod` if it wasn't
already loaded, and execute its main function with the given arguments.
The threads running commands for clients through the Posix daemon used
to write to a char buffer through snprintf (etc.) which was then written
directly to the file descriptor, whereas in the other case printf
(etc.) was used to write to stdout (FILE*). Both versions used some
macro's and repeated code to have the same output.
This change unifies these two cases by using a FILE* in both cases. The
(line) buffering is done by the standard C library's implementation
(just like with stdout), and px4_log.c now uses the same code in all
cases (using fprintf, etc.) for printing (colored) output.
* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
* move airspeed and scaling calculation into separate method
* if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
Use a templated callback method for the code parts that we actually need
templates, and avoid using a template for the rest of the code.
Saves around 20KB of flash.
Daniel Agar