Dear all,
I’m wondering if it is possible to leave the FPU unused.
I have tried to do it by making the following changes and the compilation process ends successfully but
in simulation (hitl) the drone crashes.
Thanks!
On a Pixhawk, I have tried to do it in this way:
- In px4fmu-v2/nsh/Make.defs, I changed:
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
To:
-mfloat-abi=soft
-
In px4fmu-v2/nsh/defconfig, I changed:
CONFIG_ARCH_HAVE_FPU=y
CONFIG_ARCH_FPU=y
To:
CONFIG_ARCH_HAVE_FPU=n
CONFIG_ARCH_FPU=n
-
In Toolchain-arm-none-eabi.cmake, for cortex-m4 I changed:
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
To:
-mfloat-abi=soft