mag_calibration: only allocate as much memory as needed #9312
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bkueng
approved these changes
Apr 16, 2018
|
Thanks, that was fast 😁 |
LorenzMeier
approved these changes
Apr 16, 2018
|
This will help a ton, thanks! |
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PX4 has a hard-coded maximum number of magnetometers it supports, which is 4:
https://github.com/PX4/Firmware/blob/123f11fcdda9dc6c39ebd94657c5ee94ee53cc90/src/modules/commander/mag_calibration.cpp#L66
Current situation: The calibration routine always allocates the memory for four mags to be calibrated, even when the platform only has a single compass.
Suggestion: Only allocate the memory for the number of mags that the platform actually carries. In case of a single mag, the memory footprint is lowered by 75%. In my test it then allocated only
3800instead of15200bytes.