mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp #14051

dagar · 2020-01-28T23:05:57Z

~~This isn't ready yet, but opening it now because it needs quite a lot of review.~~

This pull request replaces the mavlink module's orb subscription wrapper with direct usage of uORB::Subscriptions per mavlink stream.

On fmu-v4 (3 mavlink instances) this saves ~ 7.8 kB of ram and ~ 2.7% cpu.

nsh> free
              total       used       free    largest
 Umem:       229440     200672      28768      22880  <-- master
 Umem:       229440     192880      36560      34144  <-- PR

  PID COMMAND                   CPU(ms) CPU(%)  USED/STACK PRIO(BASE) STATE FD
    0 Idle Task                   41504 27.872   244/  512   0 (  0)  READY  3  <-- master
    0 Idle Task                   36132 30.538   244/  512   0 (  0)  READY  3  <-- PR

dagar · 2020-02-06T02:08:50Z

I'd like to bring this in after #14106 settles so that we don't have to deal with the mavlink orb subscriptions that require the special "subscribe from beginning" flag.

dagar · 2020-03-11T13:13:46Z

#14106 has merged and I've rebased this PR on current master.

dagar · 2020-03-12T15:04:48Z

I was surprised by how much memory this saved, but so far the behavior appears to be consistent with master.

Master `mavlink status`

PR `mavlink status`

Junkim3DR · 2020-03-12T19:30:49Z

Tested on NXP FMUK66 v3

Indoor test flight.
Mode tested

Stabilized

Procedure

Takeoff and landing in Stabilized

Note

No issue noted.

Log
https://review.px4.io/plot_app?log=60f88527-a901-4200-b87b-8000c67709bd

Tested on NXP FMUK66 v3

Indoor test flight.
Mode tested

Stabilized

Procedure

Takeoff and landing in Stabilized

Note

No issue noted.

Log
https://review.px4.io/plot_app?log=bc50f150-e44b-496c-91ce-283cccda0478

jorge789 · 2020-03-12T20:40:54Z

Tested on PixRacer V4

Indoor Flight Test
Modes Tested
Stabilized Mode: Good.

Procedure
Arm and Take off in stabilized mode.

Notes
No issues noted, good flight in general.

Log https://review.px4.io/plot_app?log=d95b3692-baa7-44e3-b280-664bd4588415

Tested on CUAV nano V5

Indoor Flight Test
Modes Tested
Stabilized Mode: Good.

Procedure
Arm and Take off in stabilized mode.

Notes
No issues noted, good flight in general.

Log https://review.px4.io/plot_app?log=97d9125c-a7ef-4691-ad0b-8101be666576

julianoes

So much nicer! Online one question, other than that it looks correct.

julianoes · 2020-03-13T08:07:10Z

src/modules/mavlink/mavlink_messages.cpp

+
+		} else {
+			return _odom_sub.advertised() ? MAVLINK_MSG_ID_ODOMETRY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+		}


Nice catch!

julianoes · 2020-03-13T08:09:26Z

src/modules/mavlink/mavlink_messages.cpp

 	{}

 	bool send(const hrt_abstime t) override
 	{
-		position_controller_status_s pos_ctrl_status = {};
-		tecs_status_s tecs_status = {};
+		if (_pos_ctrl_status_sub.updated()) {


I suppose this change of functionality is intended? It is now only triggered on pos_ctrl_status updated and not on tecs_status anymore.

Yes, the MC position controller publishes a (partially populated) position_controller_status now.

…calculation

dagar · 2020-03-14T16:40:38Z

Comparison with master (px4_fmu-v5_default on bench).

found GPS2_RAW regression and fixed
UTM_GLBOAL_POSITION only stream if global available (very small bug in master)

Master

PR

dagar · 2020-03-14T16:47:39Z

Comparison with master (gazebo iris after takeoff).

Master

PR

dagar · 2020-03-14T16:49:26Z

Note for later, streams set to 0.5 Hz seem to jump between 0.2 Hz and 0.8 Hz (both master and the PR).

dagar added the Admin: Cleanup (housekeeping) 🧹 label Jan 28, 2020

dagar force-pushed the pr-uorb_delete_orb_stat branch 2 times, most recently from 0232cce to 9dd40e6 Compare January 29, 2020 01:08

PX4 deleted a comment from codecov bot Jan 29, 2020

dagar force-pushed the pr-uorb_delete_orb_stat branch from 9dd40e6 to 480caa6 Compare January 29, 2020 03:11

PX4 deleted a comment from codecov bot Jan 31, 2020

weekly-digest bot mentioned this pull request Feb 2, 2020

Weekly Digest (26 January, 2020 - 2 February, 2020) #14084

Closed

dagar force-pushed the pr-uorb_delete_orb_stat branch from 0c9d718 to 039a7db Compare February 3, 2020 15:20

PX4 deleted a comment from codecov bot Feb 3, 2020

dagar changed the title ~~[WIP] mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp~~ mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp Feb 3, 2020

dagar marked this pull request as ready for review February 3, 2020 15:21

dagar force-pushed the pr-uorb_delete_orb_stat branch from 039a7db to ba32551 Compare February 4, 2020 15:23

dagar changed the title ~~mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp~~ [WIP] mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp Feb 6, 2020

dagar force-pushed the pr-uorb_delete_orb_stat branch from ba32551 to 4cd032a Compare February 6, 2020 02:25

weekly-digest bot mentioned this pull request Feb 9, 2020

Weekly Digest (2 February, 2020 - 9 February, 2020) #14124

Closed

PX4 deleted a comment from codecov bot Feb 13, 2020

dagar force-pushed the pr-uorb_delete_orb_stat branch from 4cd032a to d7bb198 Compare February 13, 2020 21:10

PX4 deleted a comment from codecov bot Feb 13, 2020

weekly-digest bot mentioned this pull request Feb 16, 2020

Weekly Digest (9 February, 2020 - 16 February, 2020) #14167

Closed

dagar mentioned this pull request Feb 20, 2020

uORB::SubscriptionCallback relax interval check to accommodate realistic sensor publication rates and occasional jitter #14181

Merged

dagar force-pushed the pr-uorb_delete_orb_stat branch from d7bb198 to 98e36dd Compare March 10, 2020 22:04

dagar added this to the Release v1.11.0 milestone Mar 10, 2020

dagar force-pushed the pr-uorb_delete_orb_stat branch from 98e36dd to 6172ed0 Compare March 11, 2020 13:13

dagar changed the title ~~[WIP] mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp~~ mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp Mar 11, 2020

dagar requested a review from julianoes March 11, 2020 14:04

delete MavlinkOrbSubscription and now unused orb_stat()

6ec7565

dagar force-pushed the pr-uorb_delete_orb_stat branch from d7327c6 to 6ec7565 Compare March 12, 2020 13:45

dagar requested a review from a team March 12, 2020 14:26

julianoes reviewed Mar 13, 2020

View reviewed changes

dagar added 3 commits March 14, 2020 11:40

mavlink messages fix GPS2_RAW

174669c

Merge remote-tracking branch 'px4/master' into pr-uorb_delete_orb_stat

0df3b09

mavlink messages improve BATTERY_STATUS and UTM_GLBOAL_POSITION size …

27bc5f0

…calculation

dagar force-pushed the pr-uorb_delete_orb_stat branch from b6bf8ef to 27bc5f0 Compare March 14, 2020 15:53

mavlink messages add more advertised checks to get_size()

8453cea

dagar merged commit 5fcd793 into master Mar 14, 2020

dagar deleted the pr-uorb_delete_orb_stat branch March 14, 2020 16:52

dagar mentioned this pull request Mar 18, 2020

Mavlink: split ESTIMATOR_STATUS and VIBRATION streams #14416

Merged

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mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp #14051

mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp #14051

dagar commented Jan 28, 2020 •

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dagar commented Mar 14, 2020 •

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dagar commented Mar 14, 2020

mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp #14051

mavlink delete MavlinkOrbSubscription and uORB delete unused orb_stat and last update timestamp #14051

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dagar commented Jan 28, 2020 • edited Loading

dagar commented Feb 6, 2020

dagar commented Mar 11, 2020

dagar commented Mar 12, 2020

Master mavlink status

PR mavlink status

Junkim3DR commented Mar 12, 2020

Tested on NXP FMUK66 v3

Tested on NXP FMUK66 v3

jorge789 commented Mar 12, 2020

Tested on PixRacer V4

Tested on CUAV nano V5

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dagar commented Mar 14, 2020 • edited Loading

Master

PR

dagar commented Mar 14, 2020

Master

PR

dagar commented Mar 14, 2020

dagar commented Jan 28, 2020 •

edited

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Master `mavlink status`

PR `mavlink status`

dagar commented Mar 14, 2020 •

edited

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