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px4_fmu-v5_stackcheck: update stack sizes and add to Jenkins 

- increase stack sizes to run cleanly under stackcheck
     - this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
 - remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)
This commit is contained in:
Daniel Agar 2020-04-11 21:16:10 -04:00 committed by GitHub
parent 7b4f6b6918
commit 66eacd24bc
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
33 changed files with 119 additions and 130 deletions
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162
.ci/Jenkinsfile-hardware
View File

@ -509,6 +509,81 @@ pipeline {
}
}
stage("px4_fmu-v5_stackcheck") {
stages {
stage("build px4_fmu-v5_stackcheck") {
agent {
docker {
image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make px4_fmu-v5_stackcheck'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
}
post {
always {
sh 'make distclean'
}
}
} // stage build
stage("test") {
agent {
label 'px4_fmu-v5'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'px4_fmu-v5_stackcheck'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
}
}
stage("configure") {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"' // limit cpu usage
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
}
}
stage("status") {
steps {
statusFTDI()
}
}
stage("tests") {
steps {
// run tests
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
}
}
stage("reset") {
steps {
cleanupFTDI();
}
}
}
options {
timeout(time: 60, unit: 'MINUTES')
}
} // stage test
}
}
stage("modalai_fc-v1_default") {
stages {
stage("build modalai_fc-v1_default") {
@ -656,93 +731,6 @@ pipeline {
}
}
stage("holybro_durandal-v1_stackcheck") {
stages {
stage("build holybro_durandal-v1_stackcheck") {
agent {
docker {
image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
}
}
steps {
sh 'export'
sh 'make distclean'
sh 'ccache -s'
sh 'git fetch --tags'
sh 'make holybro_durandal-v1_stackcheck'
sh 'make sizes'
sh 'ccache -s'
stash includes: 'build/holybro_durandal-v1_stackcheck/holybro_durandal-v1_stackcheck.elf', name: 'holybro_durandal-v1_stackcheck'
}
post {
always {
sh 'make distclean'
}
}
} // stage build
stage("test") {
agent {
label 'holybro_durandal-v1'
}
stages {
stage("flash") {
steps {
sh 'export'
sh 'find /dev/serial'
unstash 'holybro_durandal-v1_stackcheck'
// flash board and watch bootup
sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_stackcheck/holybro_durandal-v1_stackcheck.elf'
sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
}
}
stage("configure") {
steps {
// configure
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"' // disable buzzer
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"' // update bootloader
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"' // reboot to apply
}
}
stage("status") {
steps {
statusFTDI()
}
}
stage("tests") {
steps {
// run tests
sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
}
}
stage("stop modules") {
steps {
// manually stop everything
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
}
}
stage("reset") {
steps {
cleanupFTDI();
}
}
}
options {
timeout(time: 60, unit: 'MINUTES')
}
} // stage test
}
}
stage("nxp_fmuk66-v3_default") {
stages {
stage("build nxp_fmuk66-v3_default") {

2
boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
View File

@ -244,5 +244,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/av/x-v1/nuttx-config/nsh/defconfig
View File

@ -271,5 +271,5 @@ CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_RXDMA=y
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
View File

@ -198,5 +198,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig
View File

@ -105,5 +105,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="bootloader_main"

2
boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
View File

@ -248,6 +248,6 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_WATCHDOG=y

2
boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig
View File

@ -249,6 +249,6 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_WATCHDOG=y

2
boards/holybro/kakutef7/nuttx-config/nsh/defconfig
View File

@ -226,5 +226,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
View File

@ -204,5 +204,5 @@ CONFIG_USART6_RXDMA=y
CONFIG_USART6_SERIAL_CONSOLE=y
CONFIG_USART6_TXBUFSIZE=300
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/modalai/fc-v1/nuttx-config/nsh/defconfig
View File

@ -257,5 +257,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig
View File

@ -245,5 +245,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/mro/x21-777/nuttx-config/nsh/defconfig
View File

@ -247,5 +247,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/mro/x21/nuttx-config/nsh/defconfig
View File

@ -243,5 +243,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig
View File

@ -213,6 +213,6 @@ CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_DUALSPEED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_WATCHDOG=y

2
boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig
View File

@ -243,6 +243,6 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"
CONFIG_WATCHDOG=y

2
boards/omnibus/f4sd/nuttx-config/nsh/defconfig
View File

@ -198,5 +198,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v2/nuttx-config/nsh/defconfig
View File

@ -249,5 +249,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v3/nuttx-config/nsh/defconfig
View File

@ -248,5 +248,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
View File

@ -249,5 +249,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v4/nuttx-config/nsh/defconfig
View File

@ -246,5 +246,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v4/nuttx-config/optimized/defconfig
View File

@ -247,5 +247,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
View File

@ -247,5 +247,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
View File

@ -251,5 +251,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig
View File

@ -254,5 +254,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig
View File

@ -253,5 +253,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5/nuttx-config/nsh/defconfig
View File

@ -252,5 +252,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5/nuttx-config/optimized/defconfig
View File

@ -253,5 +253,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
View File

@ -253,5 +253,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -67,6 +67,7 @@ px4_add_board(
commander
dataman
ekf2
#esc_battery
events
fw_att_control
fw_pos_control_l1

2
boards/px4/fmu-v5x/nuttx-config/nsh/defconfig
View File

@ -292,5 +292,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/px4/fmu-v5x/nuttx-config/p2_base_phy_LAN8742Ai/defconfig
View File

@ -293,5 +293,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

2
boards/uvify/core/nuttx-config/nsh/defconfig
View File

@ -246,5 +246,5 @@ CONFIG_USBDEV=y
CONFIG_USBDEV_BUSPOWERED=y
CONFIG_USBDEV_MAXPOWER=500
CONFIG_USEC_PER_TICK=1000
CONFIG_USERMAIN_STACKSIZE=2688
CONFIG_USERMAIN_STACKSIZE=2944
CONFIG_USER_ENTRYPOINT="nsh_main"

26
platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
View File

@ -48,21 +48,21 @@ struct wq_config_t {
namespace wq_configurations
{
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1664, 0}; // PX4 inner loop highest priority
static constexpr wq_config_t SPI0{"wq:SPI0", 2368, -1};
static constexpr wq_config_t SPI1{"wq:SPI1", 2368, -2};
static constexpr wq_config_t SPI2{"wq:SPI2", 2368, -3};
static constexpr wq_config_t SPI3{"wq:SPI3", 2368, -4};
static constexpr wq_config_t SPI4{"wq:SPI4", 2368, -5};
static constexpr wq_config_t SPI5{"wq:SPI5", 2368, -6};
static constexpr wq_config_t SPI6{"wq:SPI6", 2368, -7};
static constexpr wq_config_t SPI0{"wq:SPI0", 2496, -1};
static constexpr wq_config_t SPI1{"wq:SPI1", 2496, -2};
static constexpr wq_config_t SPI2{"wq:SPI2", 2496, -3};
static constexpr wq_config_t SPI3{"wq:SPI3", 2496, -4};
static constexpr wq_config_t SPI4{"wq:SPI4", 2496, -5};
static constexpr wq_config_t SPI5{"wq:SPI5", 2496, -6};
static constexpr wq_config_t SPI6{"wq:SPI6", 2496, -7};
static constexpr wq_config_t I2C0{"wq:I2C0", 1400, -8};
static constexpr wq_config_t I2C1{"wq:I2C1", 1400, -9};
static constexpr wq_config_t I2C2{"wq:I2C2", 1400, -10};
static constexpr wq_config_t I2C3{"wq:I2C3", 1400, -11};
static constexpr wq_config_t I2C4{"wq:I2C4", 1400, -12};
static constexpr wq_config_t I2C0{"wq:I2C0", 1472, -8};
static constexpr wq_config_t I2C1{"wq:I2C1", 1472, -9};
static constexpr wq_config_t I2C2{"wq:I2C2", 1472, -10};
static constexpr wq_config_t I2C3{"wq:I2C3", 1472, -11};
static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12};
// PX4 att/pos controllers, highest priority after sensors.
static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 7200, -13};