It's undefined behavior to pass the callback to pthread to a class
member like we were doing. Refactor the code so the callbacks are static
members.
This fixes the following warnings:
libraries/AP_HAL_Linux/Scheduler.cpp: In member function 'virtual void Linux::LinuxScheduler::init(void*)':
/home/lucas/p/dronecode/ardupilot/libraries/AP_HAL_Linux/Scheduler.cpp:61:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
(pthread_startroutine_t)&Linux::LinuxScheduler::_timer_thread);
^
libraries/AP_HAL_Linux/Scheduler.cpp:65:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
(pthread_startroutine_t)&Linux::LinuxScheduler::_uart_thread);
^
libraries/AP_HAL_Linux/Scheduler.cpp:69:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
(pthread_startroutine_t)&Linux::LinuxScheduler::_rcin_thread);
^
libraries/AP_HAL_Linux/Scheduler.cpp:73:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
(pthread_startroutine_t)&Linux::LinuxScheduler::_tonealarm_thread);
^
libraries/AP_HAL_Linux/Scheduler.cpp:77:76: warning: converting from 'void* (Linux::LinuxScheduler::*)()' to 'Linux::LinuxScheduler::pthread_startroutine_t {aka void* (*)(void*)}' [-Wpmf-conversions]
(pthread_startroutine_t)&Linux::LinuxScheduler::_io_thread);
LinuxScheduler::init() was not really working as it should. This was the
result of "ps -Leo class,rtprio,wchan,comm | grep ArduCopter":
FF 12 futex_ ArduCopter.elf
FF 12 usleep ArduCopter.elf
FF 12 hrtime ArduCopter.elf
FF 12 poll_s ArduCopter.elf
FF 12 hrtime ArduCopter.elf
FF 12 hrtime ArduCopter.elf
As can be seen all the threads run with the same priority, the one of the main
thread. There were basically 2 mistakes:
1) pthread_attr_setschedpolicy() needs to be called before
pthread_attr_setschedparam(). Otherwise the latter will just return
an error and not set the priority
2) pthread_create() defaults to ignore the priority and inherit the
it from the parent thread. pthread_attr_setinheritsched() needs to
be called to change the behavior to PTHREAD_EXPLICIT_SCHED. See
pthread_attr_setinheritsched(3) for an example program to test the
behaviors.
Also, it's undefined behavior to call pthread_attr_init() several times on the
same pthread_attr_t. Although we could reutilize the same attribute without
calling pthread_attr_init() again, lets refactor the code a little bit, so all
the pthread calls are in a single place. Then also call pthread_attr_destroy()
when we are done.
In Linux the default stack size is always greater than 32k, either 2MB
or 8MB depending on the architecture. There's no point in creating a
function to lock 32k.
We are failing to execute arm-none-eabi-gcc due to missing 32 bits
libraries in travis. Install gcc-multilib so we get all of them.
This commit also calls this version of gcc in the end of
install-travis-env.sh so if it's to fail, force it to fail early on.
Falls back to baro if range finder is unavailable
Adds parameter enabling user to select which height source (baro or range finder) will be used during optical flow nav.
We should probably consolidate the baro pre-arm and arming checks into a
single check_baro function but the difference in the error message stops
me from immediately doing that
Bypass alt disparity check when doing ground relative navigation using range finder height
Add check of EKF health status to indicate when EKF is waiting to complete checks
