Fixes the following issues:
* Compound array elements subject to tail array optimization could be
decoded incorrectly, causing a decode failure.
* Invalid array lengths could be sent over the wire if a
longer-than-max array was encoded (though only the max number of
elements was sent).
* Lengths were not validated when decoding arrays of compound elements
using TAO, causing memory corruption if an invalid length was received.
* Union tags were not validated, causing undefined behavior if an
invalid tag was received.
When stall prevention is enabled we were scaling from the aircraft's
minimum flight speed. However this is normally already picked as being
above the stall speed, and for a variety of reasons we may want to pin
the aircraft at a higher minimum speed. But if the aircraft was
commanded to fly to close to that minimum speed as soon as it banked for
a pattern it would command a increase in speed to keep it away from
stalling. However if your minimum speed is far from stalling this
increase was incorrect. To make it worse what this actually results in
happening is an aircraft diving for more speed (over 10 m/s on some
aircraft) as well as descending to gain that speed resulting in over 200
foot deviations in altitude control.
Only create the binding object (singleton metatable/userdata or C
function reference) once the user first references a particular
singleton or userdata creation function. Once created, the object is
stored into the script's environment so it doesn't get recreated on the
next reference and there isn't any further overhead. The userdatas are
no longer shared between scripts which imposes a slight memory penalty
for multiple scripts using the same singleton but this avoids an
additional lookup time cost.
Userdata and ap_objects aren't eligible for this optimization as the C++
code might want a particular metatable at any time.
Saves ~9.3K Lua heap.
The global table is then used as the __index metamethod of each state's
environment table. Avoids the overhead of loading binding objects into
each state. The binding objects are immutable from Lua so sandboxing is
not violated.
Does have the slight downside that a script can no longer know all the
binding names by enumerating _ENV.
Saves ~700B of memory per loaded script.
The __call metamethod was set to the metatable itself. With __call not
present, Lua will try to call the metatable (and fail), which is the
same behavior as with the __call metamethod set to the metatable.
Saves ~2K Lua heap.
gimbal was sending mavlink into ArduPilot with the target system's own sysid/compid tuple. ArduPilot was simply discarding these as its own messages being looped back to it
Aside from the RRG,1 call, the simulation should reply with exactly what was received as a receipt confirmation to allow the driver to proceed past init
Rhys Mainwaring
Ben Butterworth
Thomas Watson
James O'Shannessy
xiaozhou
muramura
Michael du Breuil
chiara-septentrio
Willian Galvani
Peter Barker
rushyam
Stephen Dade
Eric Katzfey
bugobliterator
BLash