This change fixes a wrong behaviour when a takeoff command is sent.
An example:
- MIS_TAKEOFF_ALT set to 10 meters
- Takeoff command with alt setpoint of 2 meters
Old behaviour:
1. Climb to 10 meters -> takeoff WP reached
2. Go to setpoint at 2 meters
New behaviour:
1. Climb to 10 meters and stay there but notify that altitude was
overridden.
In the normal sitl `commander takeoff` case, the takeoff jump was never
actually carried out because the default altitude radius is set to 3m
and the takeoff altitude to ~2m which means that the takeoff waypoint is
"reached" immediately.
This works around this edge case by using the altitude between the home
altitude and takeoff altitude divided by 2 as a acceptance radius.
Since orb_copy is guarded with a orb_check, we ended up not having the
corrent landed state in the beginning which could lead to some
unexpected behaviour on takeoff.
In most cases, _extern_address was unused, thus wasting cycles & RAM. This
adds a separate class BlockParamExt with the field and uses it in ekf2_main
Frees roughly 0.5KB of RAM on Pixracer
The lifetime of the string is guaranteed because we never delete
DeviceNode objects and the strings in question are already on the heap.
This frees roughly 2.2KB of RAM on Pixracer
reorder & reduce instance to uint8_t (which is more than enough).
Reduces sizeof(MavlinkOrbSubscription) from 40 to 24.
On Pixracer this frees almost 2KB of RAM
The limits the maximum queue size to 255, which I think is ok for the
forseable future.
sizeof(uORB::DeviceNode) is reduces from 128 to 112 on NuttX, and with
~80 instances, this saves over 1KB of RAM.
Instead use a single timestamp for subscription checks. This frees up
~800B of RAM.
Also make sure the subscription checks are distributed over time. On each
update, at most 1 topic subscription is checked. Reduces the load of the
logger from 7.3% to 5.8% (Pixracer)
ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
members of msg could end up unaligned, because of the uint8_t buffer.
_baro_topic can be null in init sequence
init call collect before the topic is inited.
I think this pattern is repeated in other drivers. I would suggest
allowing null in orb_publish to just return.
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.
Lorenz Meier
Julian Oes
Pavel Kirienko
Beat Küng
Paul Riseborough
David Sidrane
Siddharth Bharat Purohit
Carlo Wood
Daniel Agar