84f399ec3c
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
|
||
|---|---|---|
| APMrover2 | ||
| AntennaTracker | ||
| ArduCopter | ||
| ArduPlane | ||
| Tools | ||
| docs | ||
| libraries | ||
| mk | ||
| .editorconfig | ||
| .gitattributes | ||
| .gitignore | ||
| .pydevproject | ||
| .travis.yml | ||
| CONTRIBUTING.md | ||
| COPYING.txt | ||
| Doxyfile.in | ||
| MAINTAINERS.md | ||
| README.md | ||
| Vagrantfile | ||
| reformat.sh | ||
| uncrustify_cpp.cfg | ||
| uncrustify_headers.cfg | ||
README.md
#ArduPilot Project#
The ArduPilot project is made up of:
User Support & Discussion Forums
APM Forum: http://ardupilot.com/forum/index.php
Community Site: http://diydrones.com
Developer Information
Github repository: https://github.com/diydrones/ardupilot
Main developer wiki: http://dev.ardupilot.com
Developer email group: drones-discuss@googlegroups.com
Contributors
How To Get Involved
The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase
We have an active group of Beta Testers especially for ArduCopter to help us find bugs: release procedures
Desired Enhancements and Bugs can be posted to the issues list.
Helping other users with log analysis on diydrones.com and the APM forums is always appreciated:
There is a group of wiki editors as well in case documentation is your thing: ardu-wiki-editors@googlegroups.com
Developer discussions occur on drones-discuss@google-groups.com