obc review notes

obc-review-notes.txt

1. AP_Button / storing a uint64_t in a uint32_t

2. In GPIO::pinMode - can't reset g->mode without changing from input to output at same time (oddity); the "already set" block needs more explanation

3. Is priority inheritance only a problem for recursive semaphores?
 - is 32-bit count a little bit of overkill?

4. thread_create() in SITL scheduler may attempt to free a->stack where that may be uninitialised

5. idle_adjustment += 0.5 => use a dt instead?

6. throttle_adjustment() => throttle could be set to a value (slightly) less than thr_min; clamping should be moved down

7. Polygon_intersects looks like it might be more expensive than just calling Polygon_outside on each of the two points!

8. Why does length_squared() return a float rather than <T>?

9. normalize(), normalized() and projected() will not do well for zero-length vectors

10.  should be using copy_location=true when hanlding MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION in AP_Mission::mission_cmd_to_mavlink_int - we will get sanity checking