px4_io-v2 defconfig optimizations

[dagar]

Review after #14128 is merged.

TODO: review watchdog and user main stack size on a real fully configured system (mixer loaded and running, RC connected and active). So far on the bench I haven't seen any actual watchdog usage and the user main stack could be reduced slightly, but we need to review this carefully on real vehicles.

[LorenzMeier]

I wouldn’t reduce the TX buf. IIRC that number is matched to a frame size.

[dagar]

I wouldn’t reduce the TX buf. IIRC that number is matched to a frame size.

That's the console (IO_USART1_TX_DEBUG).

[davids5]

@dagar

The Stack reductions were to agressive.

With the changes I have herein

PX4IO: starting
MEM: free 936, largest 936

With AF 13012, loaded

nsh>   px4io status
WARN  [px4io] loaded
protocol 4 hardware 2 bootloader 3 buffer 64B crc 0x8fbbc68e
8 controls 8 actuators 18 R/C inputs 2 analog inputs 0 relays
344 bytes free
status 0x2765 OUTPUTS_ARMED SAFETY_SAFE RC_OK SBUS FMU_OK MIXER_OK ARM_SYNC INIT_OK
alarms 0x0010 FMU_LOST
vservo 19 mV vservo scale 10000
vrssi 0
actuators -10000 -10000 -10000 0 10000 -9909 0 0
servos 900 900 900 900 0 0 0 0
reversed outputs: [________] trims: r:   0.0000 p:   0.0000 y:   0.0000
18 raw R/C inputs 1498 1498 1861 1489 1418 1003 1494 982 1494 1494 1494 1494 1494 1494 1494 1494 998 998
R/C flags: 0x0010
mapped R/C inputs 0x0000
ADC inputs 2 0
features 0x0001 S.BUS1_OUT
arming 0x0861 FMU_DISARMED FMU_NOT_PREARMED IO_ARM_OK INAIR_RESTART_OK ALWAYS_PWM_ENABLE
rates 0x000f default 50 alt 400 sbus 72
debuglevel 0
controls 0: -5736 -3862 113 0 0 0 0 0
controls 1: 0 0 0 0 0 0 0 0
controls 2: 0 0 0 0 0 0 0 0
controls 3: 0 0 0 0 0 0 0 0
input 0 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 1 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 2 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 3 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 4 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 5 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 6 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 7 min 1000 center 1500 max 2000 deadzone 10 assigned 255 options 0x0000
input 8 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 9 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 10 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 11 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 12 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 13 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 14 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 15 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 16 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
input 17 min 1000 center 1500 max 2000 deadzone 0 assigned 255 options 0x0000
failsafe 900 900 900 0 2100 900 1500 1500
disarmed values 900 900 900 900 0 0 0 0

[davids5]

No Joy with param set SYS_AUTOSTART 24001

WARN  [shutdown] Reboot NOW.
reset done, 10 ms
[boot] Rev 0x0 : Ver 0x9 V5X90
[boot] Fault Log info File No 4 Length 3177 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
HW arch: PX4_FMU_V5X
HW type: V5X90
HW version: 0x00000009
HW revision: 0x00000000
FW git-hash: 9e253285372f96b4f6046450313eeb7459724d41
FW version: 1.11.0 0 (17498112)
FW git-branch: pr-px4io_misc
OS: NuttX
OS version: Release 8.2.0 (134349055)
OS git-hash: ec417d7466666801e911e50d72766225ca7790a1
Build datetime: Apr 14 2020 14:53:06
Build uri: localhost
Toolchain: GNU GCC, 7.2.1 20170904 (release) [ARM/embedded-7-branch revision 255204]
PX4GUID: 0002000000003833393330385107003f0023
MCU: STM32F76xxx, rev. Z
[hardfault_log] Fault Log is Armed
INFO  [param] selected parameter default file /fs/mtd_params
INFO  [tune_control] Publishing standard tune 1
Board defaults: /etc/init.d/rc.board_defaults
nsh: rgbled_pwm: command not found
Board sensors: /etc/init.d/rc.board_sensors
INFO  [ina226] Failed to init INA226 on bus 1, but will try again periodically.
ina226 #0 on I2C bus 1 (external)
INFO  [ina226] Failed to init INA226 on bus 2, but will try again periodically.
ina226 #1 on I2C bus 2 (external)
icm20602 #0 on SPI bus 1 (devid=0x38)
ism330dlc #0 on SPI bus 2 (devid=0x69)
bmi088 #0 on SPI bus 3 (devid=0x6a)
bmi088 #1 on SPI bus 3 (devid=0x66)
bmm150 #0 on I2C bus 4
bmp388 #0 on I2C bus 4
bmp388 #1 on I2C bus 4
nsh: battery_status: command not found
Board extras: /etc/init.d/rc.board_mavlink
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
Starting Main GPS on /dev/ttyS0
Starting MAVLink on /dev/ttyS6
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B
+ MAV_TYPE: curr: 21 -> new: 2
INFO  [px4io] default PWM output device
INFO  [init] Mixer: /etc/mixers/dodeca_top_cox.main.mix on /dev/pwm_output0
ERROR [mixer_module] mixer load failed with -1
ERROR [mixer] failed to load mixers from /etc/mixers/dodeca_bottom_cox.aux.mix
ERROR [mixer] failed to load mixer
ERROR  [init] Failed loading mixer: /etc/mixers/dodeca_b

[dagar]

Thanks @davids5