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Make blended backend a real backend #26919

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Make blended backend a real backend #26919

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peterbarker
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Tested in SITL.

Board               AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
Durandal                       352    *           184     304               328    352    360
Hitec-Airspeed      *                                                                     
KakuteH7-bdshot                480    *           496     472               656    472    472
MatekF405                      56     *           128     128               -96    80     104
Pixhawk1-1M-bdshot             96                 120     104               64     104    104
f103-QiotekPeriph   *                                                                     
f303-Universal      *                                                                     
iomcu                                                           *                         
revo-mini                      64     *           -96     8                 16     0      104
skyviper-v2450                                    *

amilcarlucas
amilcarlucas suggested changes Apr 29, 2024
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Very cool changes!

libraries/AP_GPS/AP_GPS_Blended.h Outdated Show resolved Hide resolved
libraries/AP_GPS/AP_GPS_Blended.h Outdated Show resolved Hide resolved
@tridge
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tridge commented Apr 30, 2024

we will do some SpringValley flight testing

@peterbarker peterbarker force-pushed the pr/blended-backend branch 2 times, most recently from 15f7df7 to 535744d Compare July 7, 2024 04:42
@peterbarker
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Flight testing at SV went well today.

tridge
tridge requested changes Jul 15, 2024
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how does this interact with EKF3 affinity?

libraries/AP_GPS/AP_GPS.h
@@ -606,7 +604,7 @@ class AP_GPS
protected:

// configuration parameters
Params params[GPS_MAX_RECEIVERS];
Params params[GPS_MAX_INSTANCES];
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can we remove GPS_MAX_RECEIVERS now?

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Not yet. There are all sorts of interesting decisions to be made revolving around it.

Many of them will end up turning into a :-style iteration across the instances array.

@tridge
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tridge commented Jul 15, 2024

I'd like to understand how this interacts with affinity

@amilcarlucas
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Is this planned for 4.6?

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@tridge tridge tridge requested changes

@amilcarlucas amilcarlucas amilcarlucas requested changes

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4 participants
@peterbarker @tridge @amilcarlucas @CraigElder