SITL: add AP_MOTORS_FRAME_xxx_ENABLED guards #28885
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Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
peterbarker
requested changes
Dec 16, 2024
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| #if AP_MOTORS_FRAME_OCTA_ENABLED |
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Sorry, you're mixing the streams here!
We try not to rely on stuff from the "other side" here. ie. you should be able to compile support for the frame out in ArduPilot but havesim support for it - and support it in AP nbut not in SIM.
That measn creating AP_SIM_MOTORS_FRAME_OCTAQUAD_ENABLED etc
davidbuzz
approved these changes
Dec 17, 2024
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Add
AP_MOTORS_FRAME_xxx_ENABLEDguards toSIM_Frame.cppas they are applied inAP_Motors_Matrix.cpp. This does not change default behaviour and allows the majority of the motor mixes to be disabled in theesp32xxemptyboards which frees up RAM.Related
Testing
esp32empty
Before
Total sizes: Used static DRAM: 147848 bytes ( 32888 remain, 81.8% used) .data size: 19368 bytes .bss size: 128480 bytes Used static IRAM: 113718 bytes ( 17354 remain, 86.8% used) .text size: 112691 bytes .vectors size: 1027 bytes Used Flash size : 1856264 bytes .text: 1548788 bytes .rodata: 307220 bytes Total image size: 1989350 bytes (.bin may be padded larger)After
Total sizes: Used static DRAM: 120488 bytes ( 60248 remain, 66.7% used) .data size: 19368 bytes .bss size: 101120 bytes Used static IRAM: 113718 bytes ( 17354 remain, 86.8% used) .text size: 112691 bytes .vectors size: 1027 bytes Used Flash size : 1849596 bytes .text: 1545128 bytes .rodata: 304212 bytes Total image size: 1982682 bytes (.bin may be padded larger)esp32s3empty
Before
Total sizes: Used stat D/IRAM: 236610 bytes ( 105150 remain, 69.2% used) .data size: 21960 bytes .bss size: 109784 bytes .text size: 103839 bytes .vectors size: 1027 bytes Used Flash size : 1636580 bytes .text: 1354860 bytes .rodata: 281464 bytes Total image size: 1763406 bytes (.bin may be padded larger)After
Total sizes: Used stat D/IRAM: 209250 bytes ( 132510 remain, 61.2% used) .data size: 21960 bytes .bss size: 82424 bytes .text size: 103839 bytes .vectors size: 1027 bytes Used Flash size : 1629848 bytes .text: 1351152 bytes .rodata: 278440 bytes Total image size: 1756674 bytes (.bin may be padded larger)