[WIP] DTCM FIX

boards/auterion/fmu-v6x/nuttx-config/nsh/defconfig

@@ -66,6 +66,7 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y

boards/auterion/fmu-v6x/src/init.cpp

@@ -74,6 +74,7 @@
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
+#include <px4_arch/dtcm.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -211,6 +212,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)
 
+#ifdef HAVE_DTCM_HEAP
+	dtcm_initialize();
+#endif
+
 	/* Power on Interfaces */
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);

platforms/common/include/px4_platform_common/FastAllocated.hpp

@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/px4_fast_alloc.h>
+
+/**
+ * Mixin that routes operator new/delete through px4_fast_malloc so that
+ * heap-allocated instances of hot modules land in DTCM on boards that
+ * have it, with transparent fallback to the regular heap everywhere else.
+ *
+ * Usage:
+ *   class VehicleIMU : public ModuleParams,
+ *                      public FastAllocated { ... };
+ *
+ * Call sites remain unchanged — normal `new`/`delete` syntax works.
+ */
+class FastAllocated
+{
+public:
+	static void *operator new(size_t size) { return px4_fast_malloc(size); }
+	static void  operator delete(void *ptr) noexcept { px4_fast_free(ptr); }
+
+	/* Prevent array forms — these modules are always single instances */
+	static void *operator new[](size_t) = delete;
+	static void  operator delete[](void *) = delete;
+};

platforms/common/include/px4_platform_common/px4_fast_alloc.h

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stddef.h>
+
+/**
+ * Allocate from fast (DTCM) memory where available, falling back to the
+ * regular heap. On platforms without DTCM this is equivalent to malloc/free.
+ *
+ * Allocations are one-shot at module startup — the fallback to malloc on a
+ * full DTCM heap adds no runtime overhead to the hot path.
+ */
+__BEGIN_DECLS
+
+void *px4_fast_malloc(size_t size);
+void *px4_fast_memalign(size_t alignment, size_t size);
+void  px4_fast_free(void *ptr);
+
+__END_DECLS
+
+/* Cache-aligned fast alloc: uses DTCM (cache-bypass, alignment irrelevant) when
+ * available, falls back to memalign() on cached SRAM so cache maintenance stays safe. */
+#if defined(ARMV7M_DCACHE_LINESIZE)
+#  define px4_fast_cache_aligned_alloc(s) px4_fast_memalign(ARMV7M_DCACHE_LINESIZE, (s))
+#else
+#  define px4_fast_cache_aligned_alloc(s) px4_fast_malloc(s)
+#endif

platforms/common/uORB/uORBDeviceNode.cpp

@@ -36,6 +36,8 @@
 #include "uORBUtils.hpp"
 #include "uORBManager.hpp"
 
+#include <px4_platform_common/px4_fast_alloc.h>
+
 #include "SubscriptionCallback.hpp"
 
 #ifdef CONFIG_ORB_COMMUNICATOR
@@ -57,7 +59,7 @@ uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t inst
 
 uORB::DeviceNode::~DeviceNode()
 {
-	free(_data);
+	px4_fast_free(_data);
 
 	const char *devname = get_devname();
 
@@ -160,7 +162,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 			/* re-check size */
 			if (nullptr == _data) {
 				const size_t data_size = _meta->o_size * _meta->o_queue;
-				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
+				_data = (uint8_t *) px4_fast_cache_aligned_alloc(data_size);
 
 				if (_data) {
 					memset(_data, 0, data_size);

platforms/common/uORB/uORBDeviceNode.hpp

@@ -41,6 +41,7 @@
 #include <containers/IntrusiveSortedList.hpp>
 #include <containers/List.hpp>
 #include <px4_platform_common/atomic.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_config.h>
 
 namespace uORB
@@ -59,7 +60,7 @@ class UnitTest;
 /**
  * Per-object device instance.
  */
-class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
+class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>, public FastAllocated
 {
 public:
 	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path);

platforms/nuttx/src/px4/common/CMakeLists.txt

@@ -37,6 +37,7 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 	set(KERNEL_SRCS
 		board_crashdump.c
 		board_dma_alloc.c
+		px4_fast_alloc.cpp
 		board_fat_dma_alloc.c
 		console_buffer.cpp
 		cpuload.cpp

platforms/nuttx/src/px4/common/px4_fast_alloc.cpp

@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_fast_alloc.h>
+#include <px4_arch/dtcm.h>
+#include <stdlib.h>
+
+void *px4_fast_malloc(size_t size)
+{
+#ifdef HAVE_DTCM_HEAP
+	if (g_dtcm_heap != nullptr) {
+		void *p = dtcm_malloc(size);
+
+		if (p != nullptr) {
+			return p;
+		}
+	}
+
+#endif
+	return malloc(size);
+}
+
+void *px4_fast_memalign(size_t alignment, size_t size)
+{
+	void *p = px4_fast_malloc(size);
+	return p ? p : memalign(alignment, size);
+}
+
+void px4_fast_free(void *ptr)
+{
+#ifdef HAVE_DTCM_HEAP
+
+	if (g_dtcm_heap != nullptr
+	    && ptr >= (void *)DTCM_START
+	    && ptr <  (void *)DTCM_END) {
+		dtcm_free(ptr);
+		return;
+	}
+
+#endif
+	free(ptr);
+}

platforms/nuttx/src/px4/stm/stm32f1/include/px4_arch/dtcm.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* STM32F4 has no DTCM — HAVE_DTCM_HEAP intentionally not defined */

platforms/nuttx/src/px4/stm/stm32f3/include/px4_arch/dtcm.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* STM32F4 has no DTCM — HAVE_DTCM_HEAP intentionally not defined */

platforms/nuttx/src/px4/stm/stm32f4/include/px4_arch/dtcm.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* STM32F4 has no DTCM — HAVE_DTCM_HEAP intentionally not defined */

platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/dtcm.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stm32_dtcm.h>

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/dtcm.h

@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <stm32_dtcm.h>

platforms/posix/src/px4/common/CMakeLists.txt

@@ -39,6 +39,7 @@ set(EXTRA_DEPENDS)
 
 add_library(px4_layer
 	px4_posix_impl.cpp
+	px4_fast_alloc.cpp
 	tasks.cpp
 	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 	px4_sem.cpp

platforms/posix/src/px4/common/px4_fast_alloc.cpp

@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF
+ * THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
+ * DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_fast_alloc.h>
+#include <stdlib.h>
+
+void *px4_fast_malloc(size_t size)               { return malloc(size); }
+void *px4_fast_memalign(size_t, size_t size)     { return malloc(size); }
+void  px4_fast_free(void *ptr)                   { free(ptr); }

src/modules/control_allocator/ControlAllocator.hpp

@@ -64,6 +64,7 @@
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -80,7 +81,7 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/failure_detector_status.h>
 
-class ControlAllocator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
+class ControlAllocator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	static Descriptor desc;

src/modules/ekf2/EKF2.hpp

@@ -57,6 +57,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_platform_common/time.h>
 #include <uORB/Publication.hpp>
@@ -130,7 +131,7 @@
 
 extern pthread_mutex_t ekf2_module_mutex;
 
-class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
+class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	EKF2() = delete;

src/modules/ekf2/EKF2Selector.hpp

@@ -41,6 +41,7 @@
 #include <px4_platform_common/time.h>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/mathlib/mathlib.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
@@ -64,7 +65,7 @@
 
 using namespace time_literals;
 
-class EKF2Selector : public ModuleParams, public px4::ScheduledWorkItem
+class EKF2Selector : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	EKF2Selector();

src/modules/gyro_fft/GyroFFT.hpp

@@ -41,6 +41,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -58,7 +59,7 @@
 
 using namespace time_literals;
 
-class GyroFFT : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
+class GyroFFT : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	static Descriptor desc;

src/modules/mc_att_control/mc_att_control.hpp

@@ -40,6 +40,7 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
@@ -64,7 +65,7 @@
 using namespace time_literals;
 
 class MulticopterAttitudeControl : public ModuleBase, public ModuleParams,
-	public px4::WorkItem
+	public px4::WorkItem, public FastAllocated
 {
 public:
 	static Descriptor desc;

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -42,6 +42,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <lib/systemlib/mavlink_log.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -63,7 +64,7 @@
 
 using namespace time_literals;
 
-class MulticopterRateControl : public ModuleBase, public ModuleParams, public px4::WorkItem
+class MulticopterRateControl : public ModuleBase, public ModuleParams, public px4::WorkItem, public FastAllocated
 {
 public:
 	static Descriptor desc;

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -41,6 +41,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
@@ -56,7 +57,7 @@ using namespace time_literals;
 namespace sensors
 {
 
-class VehicleAcceleration : public ModuleParams, public px4::ScheduledWorkItem
+class VehicleAcceleration : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	VehicleAcceleration();

src/modules/sensors/vehicle_air_data/VehicleAirData.hpp

@@ -44,6 +44,7 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -62,7 +63,7 @@ using namespace time_literals;
 
 namespace sensors
 {
-class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem
+class VehicleAirData : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -44,6 +44,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
@@ -62,7 +63,7 @@ using namespace time_literals;
 namespace sensors
 {
 
-class VehicleAngularVelocity : public ModuleParams, public px4::ScheduledWorkItem
+class VehicleAngularVelocity : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	VehicleAngularVelocity();

src/modules/sensors/vehicle_imu/VehicleIMU.hpp

@@ -46,6 +46,7 @@
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionMultiArray.hpp>
@@ -63,7 +64,7 @@ using namespace time_literals;
 namespace sensors
 {
 
-class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem
+class VehicleIMU : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public:
 	VehicleIMU() = delete;

src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp

@@ -44,6 +44,7 @@
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/FastAllocated.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -65,7 +66,7 @@ using namespace time_literals;
 
 namespace sensors
 {
-class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem
+class VehicleMagnetometer : public ModuleParams, public px4::ScheduledWorkItem, public FastAllocated
 {
 public: