feat(arm): MAVLink v2 .bin telemetry logging to SD card over SPI#4
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Add a buffered, crash-safe telemetry logger that records the 100 Hz
control loop to an on-board SD card as a stream of CRC-checked MAVLink v2
frames (".bin" flight log), parseable by standard tooling.
- arm/mavlink_sd_logger.h: header-only MavlinkSdLogger. Canonical
MCRF4XX CRC, MAVLink v2 framing, block-buffered writes, periodic +
shutdown flush. SD-over-SPI sink abstracted behind FatFs-shaped
write/sync callbacks. Per-tick CA_TELEM record; optional stock
NAMED_VALUE_* for ground stations under MAVLINK_AVAILABLE.
- arm/drone_main.cpp: log each control tick, periodic fsync, flush and
close on shutdown with a stats summary.
- arm/test_mavlink_logger.cpp: 11 unit tests (CRC known-answer, framing,
field round-trip, buffering, oversize, write-failure recovery, raw
tee, guards). Wired into arm `make test` and root `make test-arm`/CI.
- mavlink_bridge.h: silence two unused-parameter warnings now that the
header is pulled into the main build.
…latency - Add link-time optimization (-flto) to the ARM release build (RELEASE_FLAGS); -O3 was already enabled. - Add loop_profiler.h: a zero-heap, per-stage latency accumulator (count / mean / max us) and a 'make profile' target (-DPROFILE_LOOP). Production builds compile the probe macros to no-ops, so the flight binary is unaffected. - Instrument the control loop in drone_main.cpp across nine stages (read_flow, predict, track, evade, write_cmd, console_log, bin_log, flush, TOTAL). - Add docs/loop-latency.md documenting methodology, measured worst case (482 us, 4.8% of the 10 ms budget), and the SD fsync real-hardware caveat.
feat(arm): profile 100 Hz control loop, add LTO, document worst-case latency
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Add a buffered, crash-safe telemetry logger that records the 100 Hz
control loop to an on-board SD card as a stream of CRC-checked MAVLink v2
frames (".bin" flight log), parseable by standard tooling.
MCRF4XX CRC, MAVLink v2 framing, block-buffered writes, periodic +
shutdown flush. SD-over-SPI sink abstracted behind FatFs-shaped
write/sync callbacks. Per-tick CA_TELEM record; optional stock
NAMED_VALUE_* for ground stations under MAVLINK_AVAILABLE.
close on shutdown with a stats summary.
field round-trip, buffering, oversize, write-failure recovery, raw
tee, guards). Wired into arm
make testand rootmake test-arm/CI.header is pulled into the main build.