add arming checks to validate FFT performance
allow gyros to be sampled at either the fastloop rate or gyro rate.
add gyro and parameter update loops for GyroFFT
add GYRO_FFT aux function
save FFT results on disarm
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
This commit changes the way libraries headers are included in source files:
- If the header is in the same directory the source belongs to, so the
notation '#include ""' is used with the path relative to the directory
containing the source.
- If the header is outside the directory containing the source, then we use
the notation '#include <>' with the path relative to libraries folder.
Some of the advantages of such approach:
- Only one search path for libraries headers.
- OSs like Windows may have a better lookup time.
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:
ArduPlane $ size ArduPlane.elf{.old,}
text data bss dec hex filename
733368 8252 67352 808972 c580c ArduPlane.elf.old
730632 8236 64792 803660 c434c ArduPlane.elf
ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
0000000000402800 t _GLOBAL__sub_I__ZN5Plane15scheduler_tasksE
00000000006b54c0 B Plane::scheduler_tasks
ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
0000000000490900 R Plane::scheduler_tasks
As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.
For APM2 we have a little increase in the text size size.
ArduPlane $ size ArduPlane.elf{.old,}
text data bss dec hex filename
241940 942 4447 247329 3c621 ArduPlane.elf.old
242222 942 4431 247595 3c72b ArduPlane.elf
ArduPlane $ nm -C ArduPlane.elf.old|grep scheduler_tasks
00001f8f T Plane::scheduler_tasks
ArduPlane $ nm -C ArduPlane.elf|grep scheduler_tasks
00001f8f T Plane::scheduler_tasks
It both reduces flash size and move symbols to read-only sections.
The scheduler_tasks table is one known not to be in read-only section before due
to the FastDelegate implementation. Before and after this patch:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
611406 4832 40920 657158 a0706 APMrover2.elf.old
609686 4824 38936 653446 9f886 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
0000000000696f80 B Rover::scheduler_tasks
000000000047c440 R Rover::scheduler_tasks
As can be seen above, now the scheduler_tasks symbol is in a read-only data
section and in all of them we decreased the total size.
For APM2 we have a similar situation, but the table was already in text section
because it was using plain C pointers:
APMrover2 $ size APMrover2.elf{.old,}
text data bss dec hex filename
189518 1038 3494 194050 2f602 APMrover2.elf.old
189216 1038 3480 193734 2f4c6 APMrover2.elf
APMrover2 $ nm -C APMrover2.elf{.old,} |grep tasks
00001f92 T Rover::scheduler_tasks
00001f8a T Rover::scheduler_tasks
Start to add code behind APM_BUILD_FUNCTOR to support changing the
functor implementation (without breaking the build while the change is
not complete).
Andy Piper
Randy Mackay
Peter Barker
Andrew Tridgell
Peter Hall
Tatsuya Yamaguchi
Gone4Dirt
Michael du Breuil
jaxxzer
Tom Pittenger
AndersonRayner
Lucas De Marchi
Gustavo Jose de Sousa
Michael du Breuil
Andrew Tridgell