I apologize if this question is terribly daft but, despite the amount of documentation I am able to find about PX4’s architecture, I can find very little about which modules run on the DSP vs CPU for the Snapdragon Flight board. Specifically, my questions regarding building and running PX4 with the Snapdragon Flight:
- Is each module coded to run either on the DSP or the CPU?
- What’s the difference between the
- Does starting a module in either
px4.configdetermine where that module runs? (I’ve noticed different behavior, for example, when running
local_position_estimator startin one config file versus the other.)
- Which modules should be run on the DSP, and which on the CPU?