- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
BOARD_INDICATE_ARMED_STATE was only set during arming, so an external
component might have reset the board during param save, leading to param
loss.
This extends the API to trigger the arming state also while the shutdown
lock is taken.
- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
- drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
- drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
- msg/tune_control: add tune_id numbering
- systemcmds/tune_control: add "error" special case tune_id
- move all tune_control publication to new uORB::PublicationQueued<>
- start tone_alarm immediately after board defaults are loaded to fix potential startup issues
- for SITL (or other boards with no TONE output) print common messages (startup, error, etc)
- Nuttx only process all suspend & resume scheduling notes when top is running, otherwise only track IDLE
- convert cpuload and print load to c++
- delete unused fields from print_load struct
- update hrt_store_absolute_time (previous unused)
* [WIP] i2c_spi_buses: add '-q' for quiet startup flag
And enable for optional board sensors.
* ROMFS: rc.sensors try starting all optional I2C sensors quietly
Co-authored-by: Daniel Agar <daniel@agar.ca>
- new intrusive linked list container (c++ template) that sorts on insertion
- primarily for convenience inspecting things in the system like uORB or WorkQueues
- uorb status or top sorted alphabetically
- work_queue status threads sorted by priority, then items sorted alphabetically within each
- perform full sensor signal path reset and wait for max time (100 ms)
- issue full sensor reset on any error
- always read FIFO count before transfersj
- only allocate drdy perf counter if GPIO is available
- only record start time on first run rather than init
- increase name length
- round average interval to nearest microsecond
- basic formatting consistency (google style guide)
- always check with state machine before reboot/shutdown
- respect BOARD_HAS_POWER_CONTROL (shutdown from command, low battery, power button)
- px4_shutdown_request add optional delay and always execute from HPWORK
- px4_shutdown_request split out px4_reboot_request
- increase stack sizes to run cleanly under stackcheck
- this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
- remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
- update to NuttX with stm32f4 and stm32f7 SPI DMA internal buffers
- remove explicit DMA buffer allocations from new IMU drivers
- restore original BOARD_DMA_ALLOC_POOL_SIZE
- decrease SPI DMA thresholds based on fmu-v2/v3/v4/v5 bench testing
instead of a static per-driver array.
Reduces BSS RAM usage by a couple of 100 Bytes (linear increase with num
drivers).
Downsides:
- a bit more runtime overhead
- less isolation, locking required
- a bit more complex
Daniel Agar
David Sidrane
Beat Küng
Julian Oes
Matthias Grob
mcsauder
Jacob Dahl
AlexKlimaj
SalimTerryLi