switch uxrce to space

CMakeLists.txt

@@ -241,19 +241,24 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 
 if((CMAKE_BUILD_TYPE STREQUAL "Debug") OR (CMAKE_BUILD_TYPE STREQUAL "Coverage"))
-	set(MAX_CUSTOM_OPT_LEVEL -O0)
+	set(MAX_CUSTOM_OPT_LEVEL_SPEED -O0)
 elseif(CMAKE_BUILD_TYPE MATCHES "Sanitizer")
-	set(MAX_CUSTOM_OPT_LEVEL -O1)
+	set(MAX_CUSTOM_OPT_LEVEL_SPEED -O1)
 elseif(CMAKE_BUILD_TYPE MATCHES "Release")
-	set(MAX_CUSTOM_OPT_LEVEL -O3)
+	set(MAX_CUSTOM_OPT_LEVEL_SPEED -O3)
 else()
 	if(px4_constrained_flash_build)
-		set(MAX_CUSTOM_OPT_LEVEL -Os)
+		set(MAX_CUSTOM_OPT_LEVEL_SPEED -Os)
 	else()
-		set(MAX_CUSTOM_OPT_LEVEL -O2)
+		set(MAX_CUSTOM_OPT_LEVEL_SPEED -O2)
+		set(MAX_CUSTOM_OPT_LEVEL_SPACE -Os)
 	endif()
 endif()
 
+if(NOT MAX_CUSTOM_OPT_LEVEL_SPACE)
+	set(MAX_CUSTOM_OPT_LEVEL_SPACE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
+endif()
+
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 

platforms/common/px4_work_queue/CMakeLists.txt

@@ -43,4 +43,4 @@ if(PX4_TESTING)
 	add_subdirectory(test)
 endif()
 
-target_compile_options(px4_work_queue PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(px4_work_queue PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

platforms/common/uORB/CMakeLists.txt

@@ -80,7 +80,7 @@ if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
 		${SRCS_KERNEL}
 		)
 	target_link_libraries(uORB_kernel PRIVATE cdev uorb_msgs nuttx_mm heatshrink)
-	target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
+	target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED} -D__KERNEL__)
 
 	# User side library in nuttx kernel/protected build
 	px4_add_library(uORB
@@ -106,7 +106,7 @@ else()
 endif()
 
 target_link_libraries(uORB PRIVATE uorb_msgs heatshrink)
-target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 if(PX4_TESTING)
 	add_subdirectory(uORB_tests)

platforms/nuttx/src/px4/nxp/imxrt/dshot/CMakeLists.txt

@@ -34,4 +34,4 @@
 px4_add_library(arch_dshot
 	dshot.c
 )
-target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

platforms/nuttx/src/px4/nxp/imxrt/spi/CMakeLists.txt

@@ -34,6 +34,6 @@
 px4_add_library(arch_spi
 	spi.cpp
 )
-target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 target_link_libraries (arch_spi PRIVATE drivers_board) # px4_spi_buses

platforms/nuttx/src/px4/rpi/rpi_common/hrt/CMakeLists.txt

@@ -36,6 +36,6 @@ px4_add_library(arch_hrt
 )
 target_compile_options(arch_hrt
 	PRIVATE
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		-Wno-cast-align # TODO: fix and enable
 )

platforms/nuttx/src/px4/rpi/rpi_common/io_pins/CMakeLists.txt

@@ -39,6 +39,6 @@ px4_add_library(arch_io_pins
 	rp2040_pinset.c
 )
 
-target_compile_options(arch_io_pins PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_io_pins PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 target_link_libraries(arch_io_pins PRIVATE drivers_board)

platforms/nuttx/src/px4/rpi/rpi_common/spi/CMakeLists.txt

@@ -34,4 +34,4 @@
 px4_add_library(arch_spi
 	spi.cpp
 )
-target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt

@@ -34,4 +34,4 @@
 px4_add_library(arch_dshot
 	dshot.c
 )
-target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_dshot PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

platforms/nuttx/src/px4/stm/stm32_common/hrt/CMakeLists.txt

@@ -36,6 +36,6 @@ px4_add_library(arch_hrt
 )
 target_compile_options(arch_hrt
 	PRIVATE
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		-Wno-cast-align # TODO: fix and enable
 )

platforms/nuttx/src/px4/stm/stm32_common/io_pins/CMakeLists.txt

@@ -37,6 +37,6 @@ px4_add_library(arch_io_pins
 	pwm_servo.c
 	pwm_trigger.c
 )
-target_compile_options(arch_io_pins PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_io_pins PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 target_link_libraries(arch_io_pins PRIVATE drivers_board) # timer_io_channels

platforms/nuttx/src/px4/stm/stm32_common/spi/CMakeLists.txt

@@ -34,6 +34,6 @@
 px4_add_library(arch_spi
 	spi.cpp
 )
-target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(arch_spi PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 target_link_libraries (arch_spi PRIVATE drivers_board) # px4_spi_buses

src/drivers/imu/analog_devices/adis16448/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE drivers__imu__analog_devices__adis16448
 	MAIN adis16448
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 	SRCS
 		ADIS16448.cpp

src/drivers/imu/invensense/icm42688p/CMakeLists.txt

@@ -34,7 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__icm42688p
 	MAIN icm42688p
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 	SRCS
 		icm42688p_main.cpp

src/drivers/imu/invensense/icm45686/CMakeLists.txt

@@ -34,7 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__icm45686
 	MAIN icm45686
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 	SRCS
 		icm45686_main.cpp

src/drivers/imu/invensense/iim42652/CMakeLists.txt

@@ -34,7 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__iim42652
 	MAIN iim42652
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 	SRCS
 		iim42652_main.cpp

src/drivers/imu/invensense/iim42653/CMakeLists.txt

@@ -34,7 +34,7 @@ px4_add_module(
 	MODULE drivers__imu__invensense__iim42653
 	MAIN iim42653
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 	SRCS
 		iim42653_main.cpp

src/examples/fake_imu/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE modules__fake_imu
 	MAIN fake_imu
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 	SRCS
 		FakeImu.cpp
 		FakeImu.hpp

src/lib/cdev/CMakeLists.txt

@@ -49,7 +49,7 @@ px4_add_library(cdev
 	CDev.hpp
 	${SRCS_PLATFORM}
 )
-target_compile_options(cdev PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(cdev PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 if (${PX4_PLATFORM} STREQUAL "nuttx")
 	target_link_libraries(cdev PRIVATE nuttx_fs) # register/unregister driver

src/lib/conversion/CMakeLists.txt

@@ -36,6 +36,6 @@ px4_add_library(conversion
 	rotation.h
 )
 
-target_compile_options(conversion PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(conversion PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 px4_add_unit_gtest(SRC RotationTest.cpp LINKLIBS conversion)

src/lib/crc/CMakeLists.txt

@@ -36,4 +36,4 @@ add_library(crc STATIC EXCLUDE_FROM_ALL
 	crc.h
 )
 add_dependencies(crc prebuild_targets)
-target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

src/lib/drivers/accelerometer/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(drivers_accelerometer
 	PX4Accelerometer.cpp
 	PX4Accelerometer.hpp
 )
-target_compile_options(drivers_accelerometer PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(drivers_accelerometer PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPACE})
 target_link_libraries(drivers_accelerometer PRIVATE conversion)

src/lib/drivers/gyroscope/CMakeLists.txt

@@ -35,5 +35,5 @@ px4_add_library(drivers_gyroscope
 	PX4Gyroscope.cpp
 	PX4Gyroscope.hpp
 )
-target_compile_options(drivers_gyroscope PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(drivers_gyroscope PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPACE})
 target_link_libraries(drivers_gyroscope PRIVATE conversion)

src/lib/geo/CMakeLists.txt

@@ -36,6 +36,6 @@ add_library(geo
 	geo.h
 )
 add_dependencies(geo prebuild_targets)
-target_compile_options(geo PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(geo PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 px4_add_unit_gtest(SRC test_geo.cpp LINKLIBS geo)

src/lib/heatshrink/CMakeLists.txt

@@ -38,5 +38,5 @@ px4_add_library(heatshrink
 )
 
 target_compile_options(heatshrink PRIVATE
-	${MAX_CUSTOM_OPT_LEVEL}
+	${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	-DHEATSHRINK_DYNAMIC_ALLOC=0)

src/lib/mixer_module/CMakeLists.txt

@@ -61,7 +61,7 @@ px4_add_library(mixer_module
 	)
 
 add_dependencies(mixer_module output_functions_header)
-target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 target_include_directories(mixer_module PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
 
 px4_add_functional_gtest(SRC mixer_module_tests.cpp LINKLIBS mixer_module)

src/lib/parameters/CMakeLists.txt

@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-add_compile_options(${MAX_CUSTOM_OPT_LEVEL})
+add_compile_options(${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
@@ -157,7 +157,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
 set(SRCS)
 
 list(APPEND SRCS
-	parameters.cpp 
+	parameters.cpp
 	atomic_transaction.cpp
 	autosave.cpp
 )

src/lib/perf/CMakeLists.txt

@@ -33,4 +33,4 @@
 
 add_library(perf perf_counter.cpp)
 add_dependencies(perf prebuild_targets)
-target_compile_options(perf PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(perf PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

src/lib/rate_control/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_library(RateControl
 	rate_control.cpp
 	rate_control.hpp
 )
-target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(RateControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 target_include_directories(RateControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(RateControl PRIVATE mathlib)
 

src/lib/systemlib/CMakeLists.txt

@@ -47,4 +47,4 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
 endif()
 
 px4_add_library(systemlib ${SRCS})
-target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(systemlib PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})

src/lib/tinybson/CMakeLists.txt

@@ -39,7 +39,7 @@ target_compile_definitions(tinybson PRIVATE -DMODULE_NAME="tinybson")
 target_compile_options(tinybson
 	PRIVATE
 		-Wno-sign-compare # TODO: fix this
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 )
 
 add_dependencies(tinybson prebuild_targets)

src/lib/world_magnetic_model/CMakeLists.txt

@@ -53,7 +53,7 @@ add_library(world_magnetic_model
 	geo_magnetic_tables.hpp
 )
 add_dependencies(world_magnetic_model prebuild_targets)
-target_compile_options(world_magnetic_model PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(world_magnetic_model PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 if(BUILD_TESTING)
 	px4_add_unit_gtest(SRC test_geo_lookup.cpp LINKLIBS world_magnetic_model)

src/modules/control_allocator/ActuatorEffectiveness/CMakeLists.txt

@@ -64,7 +64,7 @@ px4_add_library(ActuatorEffectiveness
 	ActuatorEffectivenessRoverAckermann.cpp
 )
 
-target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(ActuatorEffectiveness PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 target_include_directories(ActuatorEffectiveness PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ActuatorEffectiveness
 	PRIVATE

src/modules/control_allocator/CMakeLists.txt

@@ -39,7 +39,7 @@ px4_add_module(
 	MODULE modules__control_allocator
 	MAIN control_allocator
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	STACK_MAIN
 		3000
 	SRCS

src/modules/control_allocator/ControlAllocation/CMakeLists.txt

@@ -39,7 +39,7 @@ px4_add_library(ControlAllocation
 	ControlAllocationSequentialDesaturation.cpp
 	ControlAllocationSequentialDesaturation.hpp
 )
-target_compile_options(ControlAllocation PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(ControlAllocation PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 target_include_directories(ControlAllocation PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 target_link_libraries(ControlAllocation PRIVATE mathlib)
 

src/modules/ekf2/CMakeLists.txt

@@ -238,7 +238,7 @@ px4_add_module(
 	MODULE modules__ekf2
 	MAIN ekf2
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		-fno-associative-math
 		#-DDEBUG_BUILD
 		#-O0

src/modules/ekf2/EKF/lat_lon_alt/CMakeLists.txt

@@ -38,6 +38,6 @@ add_library(lat_lon_alt
 
 add_dependencies(lat_lon_alt prebuild_targets)
 target_include_directories(lat_lon_alt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
-target_compile_options(lat_lon_alt PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(lat_lon_alt PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 px4_add_unit_gtest(SRC test_lat_lon_alt.cpp LINKLIBS lat_lon_alt geo)

src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_library(follow_target_estimator
 	TargetEstimator.cpp
 )
 
-target_compile_options(follow_target_estimator PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(follow_target_estimator PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 
 target_link_libraries(follow_target_estimator
 	PRIVATE

src/modules/fw_autotune_attitude_control/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE fw_autotune_attitude_control
 	MAIN fw_autotune_attitude_control
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		fw_autotune_attitude_control.cpp
 		fw_autotune_attitude_control.hpp

src/modules/gyro_fft/CMakeLists.txt

@@ -51,7 +51,7 @@ px4_add_module(
 	STACK_MAIN
 		4096
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		-DARM_ALL_FFT_TABLES
 		-DARM_MATH_LOOPUNROLL
 	INCLUDES

src/modules/logger/CMakeLists.txt

@@ -37,7 +37,7 @@ px4_add_module(
 	PRIORITY "SCHED_PRIORITY_MAX-30"
 	STACK_MAIN 2500
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		logged_topics.cpp

src/modules/mc_att_control/AttitudeControl/CMakeLists.txt

@@ -36,7 +36,7 @@ px4_add_library(AttitudeControl
 	AttitudeControl.hpp
 	AttitudeControlMath.hpp
 )
-target_compile_options(AttitudeControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(AttitudeControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPEED})
 target_include_directories(AttitudeControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC AttitudeControlTest.cpp LINKLIBS AttitudeControl)

src/modules/mc_att_control/CMakeLists.txt

@@ -37,7 +37,7 @@ px4_add_module(
 	MODULE modules__mc_att_control
 	MAIN mc_att_control
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		mc_att_control_main.cpp
 		mc_att_control.hpp

src/modules/mc_autotune_attitude_control/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE mc_autotune_attitude_control
 	MAIN mc_autotune_attitude_control
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		mc_autotune_attitude_control.cpp
 		mc_autotune_attitude_control.hpp

src/modules/mc_hover_thrust_estimator/CMakeLists.txt

@@ -40,7 +40,7 @@ px4_add_module(
 	MODULE modules__mc_hover_thrust_estimator
 	MAIN mc_hover_thrust_estimator
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		MulticopterHoverThrustEstimator.cpp
 		MulticopterHoverThrustEstimator.hpp

src/modules/mc_rate_control/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE modules__mc_rate_control
 	MAIN mc_rate_control
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		MulticopterRateControl.cpp
 		MulticopterRateControl.hpp

src/modules/sensors/vehicle_acceleration/CMakeLists.txt

@@ -36,7 +36,7 @@ px4_add_library(vehicle_acceleration
 	VehicleAcceleration.hpp
 )
 
-target_compile_options(vehicle_acceleration PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+target_compile_options(vehicle_acceleration PRIVATE ${MAX_CUSTOM_OPT_LEVEL_SPACE})
 
 target_link_libraries(vehicle_acceleration
 	PRIVATE

src/modules/sensors/vehicle_angular_velocity/CMakeLists.txt

@@ -38,7 +38,7 @@ px4_add_library(vehicle_angular_velocity
 
 target_compile_options(vehicle_angular_velocity
 	PRIVATE
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 )
 

src/modules/sensors/vehicle_imu/CMakeLists.txt

@@ -38,7 +38,7 @@ px4_add_library(vehicle_imu
 
 target_compile_options(vehicle_imu
 	PRIVATE
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		#-DDEBUG_BUILD
 )
 

src/modules/simulation/gz_bridge/CMakeLists.txt

@@ -51,7 +51,7 @@ if(gz-transport_FOUND)
 		MODULE modules__simulation__gz_bridge
 		MAIN gz_bridge
 		COMPILE_FLAGS
-			${MAX_CUSTOM_OPT_LEVEL}
+			${MAX_CUSTOM_OPT_LEVEL_SPEED}
 		SRCS
 			GZBridge.cpp
 			GZBridge.hpp

src/modules/simulation/simulator_sih/CMakeLists.txt

@@ -35,7 +35,7 @@ px4_add_module(
 	MODULE modules__simulation__simulator_sih
 	MAIN simulator_sih
 	COMPILE_FLAGS
-		${MAX_CUSTOM_OPT_LEVEL}
+		${MAX_CUSTOM_OPT_LEVEL_SPEED}
 	SRCS
 		aero.hpp
 		sih.cpp

src/modules/uxrce_dds_client/CMakeLists.txt

@@ -138,7 +138,7 @@ else()
 		COMPILE_FLAGS
 			#-O0
 			# -DDEBUG_BUILD
-			${MAX_CUSTOM_OPT_LEVEL}
+			${MAX_CUSTOM_OPT_LEVEL_SPACE}
 		SRCS
 			${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
 			uxrce_dds_client.cpp