snapdragon flight maintenance issues

[dagar]

This is a rough list of the things that have made maintaining this platform more difficult than it needs to be.

• parameter system duplicated in place (99% identical)
  • Action: merge src/lib/parameters/parameters.cpp and src/lib/parameters/parameters_shmem.cpp

• DriverFramework sensor drivers
  • Action: "port" in tree PX4 drivers and drop DriverFramework
    ([WIP]: deprecate DriverFramework mpu9250 driver #12783)
  • Action: unify all sensor handling with regular PX4 (calibration parameters, ifdef mess in calibration routines, etc)

• init is a mess
  • PX4 init for nuttx, linux, qurt is all different - https://github.com/PX4/Firmware/tree/master/posix-configs/eagle
  • PX4 linux has no standard install location, packaging, or system init (start via /etc/rc.local if at
    all)
  • Action: create linux package with px4 binary, config pieces, DSP binary (libpx4.so), etc
• development environment issues
  • not clear what is and isn't available on qurt and problems aren't caught until runtime
  • difficult to get set up
  • various ATLFlight/cmake_hexagon issues and unnecessary non-standard cmake magic
• circular dependencies between parameters, muorb, shmem, etc
  • extern symbols with no proper include paths, linking dependencies
  • untangling this mess would help a lot
• build system
  • there's an eagle build on jenkins (with old private container), but the binaries it produces don't seem to actually work on hardware
  • no excelsior build at all
• no automated testing
  • Action: add eagle hardware testing to Jenkins (WIP)
  • Action: add excelsior hardware testing to Jenkins

[dagar]

FYI @modalai-sweetc @modaltb

[julianoes]

I'll add a couple of points:

• Maintenance of docs and dependencies abandoned:

  • No answers here: https://github.com/ATLFlight/cross_toolchain/issues
  • Neither here: https://github.com/ATLFlight/dspal/issues

• No tooling/instrumentation about Qurt/DSP side:

  • We don't know free stack, RAM, CPU load!
  • We don't get crash stack traces, it just reboots.

• Compiler for Qurt is based on Clang 3.5.0 and prevents us from going from C++11 to C++14 or C++17.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.