mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
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
58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_VEHICLE_H
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#define AP_VEHICLE_H
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/*
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this header holds a parameter structure for each vehicle type for
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parameters needed by multiple libraries
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*/
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#include <AP_Param.h>
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class AP_Vehicle {
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public:
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/*
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common parameters for fixed wing aircraft
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*/
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struct FixedWing {
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_cruise;
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AP_Int8 takeoff_throttle_max;
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AP_Int16 airspeed_min;
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AP_Int16 airspeed_max;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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AP_Int8 autotune_level;
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AP_Int16 land_pitch_cd;
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AP_Float land_flare_sec;
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AP_Int8 stall_prevention;
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};
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/*
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common parameters for multicopters
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*/
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struct MultiCopter {
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AP_Int16 angle_max;
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};
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};
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#include "AP_Vehicle_Type.h"
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#endif // AP_VEHICLE_H
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