The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote.
Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.
Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.
* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h
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Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Reduces flash usage by ~16KB.
- compress formats at build-time into a single string with all formats
- then at runtime iteratively decompress using
https://github.com/atomicobject/heatshrink
Increased size for ORB_ID from uint8_t to uint16_t
Created a type: orb_id_size_t = uint16_t.
There are still a couple of places where the size
of the ORB_ID is assumed to be less than 16-bits.
The places that I have found are commented regarding
this and can be found with a search on orb_id_size_t.
Co-authored-by: Peter van der Perk <peter.vanderperk@nxp.com>
Co-authored-by: David Sidrane <David.Sidrane@NscDg.com>
Co-authored-by: alexklimaj <alex@arkelectron.com>
- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
Move some logic from Subscriber into uORBManager. This reduces calls from the
modules to the uORB manager, improving performance in protected build.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
It was a mistake to mix these two together, it is simpler to implement the boardctl interface
for the protected build, if the boardctl ioctls are different
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
When building uORB for NuttX flat build, or for some other target, everything
works as before.
When building uORB for NuttX protected or kernel build, this does the following:
- The kernel side uORB library reigsters a boardctl handler for calls from userspace
and services the boardctl_ioctls by calling the actual uORB functions
- For user mode binaries, the uORBManager acts as a proxy, making boardctl_ioctl calls to the
kernel side
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- Allocate and free the node name in uORBDeviceNode.
- Add protected build support by de-allocating the name with kmm_free, when
running in kernel side. strdup allocates from the kernel heap in NuttX kernel
space.
- Remove the CDev::unregister_driver_and_memory(), it is no longer used
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Don't compare pointers to metadata, but the metadata contents.
In protected/kernel build there are two sets of metadata, on on kernel
side and another in user side. Thus the comparison of pointers would just
always fail. Compare orb_id instead
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
Proxy all calls to the DeviceNode through Manager;
- This hides the DeviceNode from publishers and subscribers
- Manager can be made an interface class between user and kernel spaces in protected build
- This doesn't increase code size or harm the performance on flat build
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
There's an increasing amount of slow logged topics at 1-2Hz, which were all
updated in the same logger iteration, leading to data bursts. For log
streaming this started to exceed uart buffer sizes. By distributing updates
more equal over time those bursts are removed, reducing buffer size
requirements.
Tests showed during steady state a reduction of maximum topic updates per
iteration from 40 down to 17.
Also the SD log buffer fill level is more constant.
Eric Katzfey
Beat Küng
Robbie Drage
Peter van der Perk
Niklas Hauser
hskrieg
Patrick José Pereira
Silvan Fuhrer
Daniel Agar
Eric Katzfey
Zachary Lowell
Jacob Schloss
Jukka Laitinen