uorb: allow for more than 255 uORB messages #21923
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Increased size for ORB_ID from uint8_t to uint16_t Created a type: orb_id_size_t = uint16_t. There are still a couple of places where the size of the ORB_ID is assumed to be less than 16-bits. The places that I have found are commented regarding this and can be found with a search on orb_id_size_t.
junwoo091400
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uORB
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ThomasDebrunner
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Aug 8, 2023
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-uorb-message-id-capped-at-255/29597/2 |
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FYI The limitation wasn't documented, so no docs update. But @junwoo091400 you might consider updating https://px4.io/px4-uorb-explained-part-1/ :-) |
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Replaces #20637
@hskrieg thanks for your efforts, I'm continuing your PR here. I had to adjust the DDS code a bit (see 2. commit).
I also dropped some of the logger changes as they're not necessary.
Resource usage stays the same (flash, RAM and CPU load).