I just ran the build with the latest from @tridge’s branch and loaded onto my Solo. Spectacular!
- RC & PWM I/O has been restored
- Solo’s mavlink gimbal is now fully operational.
- GoPro controls work through the mavlink gimbal as they should
- As before, Smart battery is working in all respects
- Dataflash logging over mavlink is working
The performance monitor data is astounding! The Solo is very heavy load on the Pixhawk’s performance. As you can see, with the Nuttx / px4 firmware, it is extremely overtaxed at all times. The gimbal and logging take a heavy toll on it. Massive overruns at all times. With ChibiOS, well the the numbers speak for themselves. Overruns went from 30-50% with px4/nuttx, down to 0.125%. I don’t even need to describe the results.
ArduCoper master 3.6-Dev // Nuttx & PX4
PERF: 1316/4000 max=6659 min=2119 avg=2953 sd=597
PERF: 1280/4000 max=8157 min=1882 avg=2952 sd=616
PERF: 1275/4000 max=7370 min=2014 avg=2958 sd=637
PERF: 1313/4000 max=7256 min=1905 avg=2960 sd=607
PERF: 1328/4000 max=6748 min=1942 avg=2958 sd=600
PERF: 1313/4001 max=6854 min=1934 avg=2953 sd=584
ArduCopter 3.6-Dev // ChibiOS
PERF: 1/4000 max=3004 min=2200 avg=2501 sd=86
PERF: 2/4000 max=3308 min=2125 avg=2501 sd=96
PERF: 1/4000 max=3102 min=2197 avg=2501 sd=90
PERF: 2/4000 max=3102 min=2098 avg=2501 sd=88
PERF: 5/4000 max=3795 min=2104 avg=2505 sd=99
PERF: 0/4000 max=2998 min=2104 avg=2501 sd=94
PERF: 0/4000 max=2888 min=2100 avg=2500 sd=82