Merge pull request #954 from PX4/stack_sweep

Stack sweep

29 files changed, 68 insertions, 18 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 3469d5f5f..009e7431a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -8,7 +8,7 @@ then
 	if ver hwcmp PX4FMU_V1
 	then
 		echo "Start sdlog2 at 50Hz"
-		sdlog2 start -r 50 -a -b 8 -t
+		sdlog2 start -r 50 -a -b 5 -t
 	else
 		echo "Start sdlog2 at 200Hz"
 		sdlog2 start -r 200 -a -b 16 -t
diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index b7b556945..76593881d 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -3,16 +3,20 @@
 # USB MAVLink start
 #
 
-echo "Starting MAVLink on this USB console"
-
 mavlink start -r 10000 -d /dev/ttyACM0
 # Enable a number of interesting streams we want via USB
 mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s OPTICAL_FLOW -r 10
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s VFR_HUD -r 20
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE -r 20
+usleep 100000
 mavlink stream -d /dev/ttyACM0 -s ATTITUDE_CONTROLS -r 30
-mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 10
+usleep 100000
+mavlink stream -d /dev/ttyACM0 -s SERVO_OUTPUT_RAW_0 -r 20
+usleep 100000
 
 # Exit shell to make it available to MAVLink
 exit
diff --git a/src/drivers/px4fmu/module.mk b/src/drivers/px4fmu/module.mk
index 05bc7a5b3..eeb59e1a1 100644
--- a/src/drivers/px4fmu/module.mk
+++ b/src/drivers/px4fmu/module.mk
@@ -4,3 +4,5 @@
 
 MODULE_COMMAND	 = fmu
 SRCS		 = fmu.cpp
+
+MODULE_STACKSIZE = 1200
diff --git a/src/drivers/px4io/module.mk b/src/drivers/px4io/module.mk
index 2054faa12..c14f1f783 100644
--- a/src/drivers/px4io/module.mk
+++ b/src/drivers/px4io/module.mk
@@ -44,3 +44,5 @@ SRCS			= px4io.cpp \
 
 # XXX prune to just get UART registers
 INCLUDE_DIRS    += $(NUTTX_SRC)/arch/arm/src/stm32 $(NUTTX_SRC)/arch/arm/src/common
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk
index d2c48934f..a2a9eb113 100644
--- a/src/examples/fixedwing_control/module.mk
+++ b/src/examples/fixedwing_control/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	= ex_fixedwing_control
 
 SRCS		= main.c \
 		  params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk
index 5f8aa73d5..fc4223142 100644
--- a/src/examples/px4_daemon_app/module.mk
+++ b/src/examples/px4_daemon_app/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND		= px4_daemon_app
 
 SRCS			= px4_daemon_app.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index 53f1b4a9a..3eaf14148 100644
--- a/src/examples/px4_daemon_app/px4_daemon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -98,7 +98,7 @@ int px4_daemon_app_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("daemon",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
-					 4096,
+					 2000,
 					 px4_daemon_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk
index fefd61496..c7ef97fc4 100644
--- a/src/examples/px4_mavlink_debug/module.mk
+++ b/src/examples/px4_mavlink_debug/module.mk
@@ -37,4 +37,6 @@
 
 MODULE_COMMAND		= px4_mavlink_debug
 
-SRCS			= px4_mavlink_debug.c
\ No newline at end of file
+SRCS			= px4_mavlink_debug.c
+
+MODULE_STACKSIZE = 2000
diff --git a/src/modules/attitude_estimator_ekf/module.mk b/src/modules/attitude_estimator_ekf/module.mk
index d98647f99..99d0c5bf2 100644
--- a/src/modules/attitude_estimator_ekf/module.mk
+++ b/src/modules/attitude_estimator_ekf/module.mk
@@ -50,3 +50,5 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
 		   codegen/cross.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/attitude_estimator_so3/module.mk b/src/modules/attitude_estimator_so3/module.mk
index e29bb16a6..f52715abb 100644
--- a/src/modules/attitude_estimator_so3/module.mk
+++ b/src/modules/attitude_estimator_so3/module.mk
@@ -6,3 +6,5 @@ MODULE_COMMAND	 = attitude_estimator_so3
 
 SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 17d3d3dcd..13da27dcd 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -249,7 +249,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     3000,
+					     2950,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -743,7 +743,7 @@ int commander_thread_main(int argc, char *argv[])
 
 	pthread_attr_t commander_low_prio_attr;
 	pthread_attr_init(&commander_low_prio_attr);
-	pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
+	pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 9296db6ed..0ead22f77 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd)
 	uint64_t calibration_interval = 45 * 1000 * 1000;
 
 	/* maximum 500 values */
-	const unsigned int calibration_maxcount = 500;
+	const unsigned int calibration_maxcount = 240;
 	unsigned int calibration_counter;
 
 	struct mag_scale mscale_null = {
@@ -121,6 +121,20 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
+
+			/* clean up */
+			if (x != NULL) {
+				free(x);
+			}
+
+			if (y != NULL) {
+				free(y);
+			}
+
+			if (z != NULL) {
+				free(z);
+			}
+
 			res = ERROR;
 			return res;
 		}
diff --git a/src/modules/dataman/module.mk b/src/modules/dataman/module.mk
index 27670dd3f..234607b3d 100644
--- a/src/modules/dataman/module.mk
+++ b/src/modules/dataman/module.mk
@@ -38,3 +38,5 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index dd88b0949..3e44102fb 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1523,6 +1523,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 void
 Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
 {
+	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+
 	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
 
 	mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
@@ -2193,7 +2195,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2048,
+		       2000,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 1bf51fd31..c7a7d32f8 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -237,7 +237,6 @@ private:
 
 	orb_advert_t	_mission_pub;
 	struct mission_s mission;
-	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
 	MAVLINK_MODE _mode;
 
 	uint8_t _mavlink_wpm_comp_id;
diff --git a/src/modules/mavlink/module.mk b/src/modules/mavlink/module.mk
index dcca11977..f532e26fe 100644
--- a/src/modules/mavlink/module.mk
+++ b/src/modules/mavlink/module.mk
@@ -48,3 +48,5 @@ SRCS		 += mavlink_main.cpp \
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1024
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 74e31dd5b..9a0b726d4 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -818,7 +818,7 @@ MulticopterAttitudeControl::start()
 	_control_task = task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 6e611d4ab..09960d106 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -1062,7 +1062,7 @@ MulticopterPositionControl::start()
 	_control_task = task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterPositionControl::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/modules/navigator/module.mk b/src/modules/navigator/module.mk
index 55f8a4caa..6ea9dec2b 100644
--- a/src/modules/navigator/module.mk
+++ b/src/modules/navigator/module.mk
@@ -45,3 +45,5 @@ SRCS		= navigator_main.cpp \
 		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index c6b5112a5..87c893079 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -848,7 +848,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 2048,
+					 2000,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 
diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index f53129688..a28d43e72 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
 
 SRCS = sdlog2.c \
        logbuffer.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sensors/module.mk b/src/modules/sensors/module.mk
index aa538fd6b..5b1bc5e86 100644
--- a/src/modules/sensors/module.mk
+++ b/src/modules/sensors/module.mk
@@ -40,3 +40,5 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 
 SRCS		= sensors.cpp \
 		  sensor_params.c
+
+MODULE_STACKSIZE = 1200
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 18bf97f8d..8da6b06ef 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1669,7 +1669,7 @@ Sensors::start()
 	_sensors_task = task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&Sensors::task_main_trampoline,
 				       nullptr);
 
diff --git a/src/systemcmds/param/module.mk b/src/systemcmds/param/module.mk
index 63f15ad28..f716eb71e 100644
--- a/src/systemcmds/param/module.mk
+++ b/src/systemcmds/param/module.mk
@@ -38,7 +38,8 @@
 MODULE_COMMAND	 = param
 SRCS		 = param.c
 
-MODULE_STACKSIZE = 4096
+# Note: measurements yielded a max of 900 bytes used.
+MODULE_STACKSIZE = 1800
 
 MAXOPTIMIZATION	 = -Os
 
diff --git a/src/systemcmds/perf/module.mk b/src/systemcmds/perf/module.mk
index 77952842b..ec39a7a85 100644
--- a/src/systemcmds/perf/module.mk
+++ b/src/systemcmds/perf/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 = perf
 SRCS		 = perf.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/preflight_check/module.mk b/src/systemcmds/preflight_check/module.mk
index 7c3c88783..0cb2a4cd0 100644
--- a/src/systemcmds/preflight_check/module.mk
+++ b/src/systemcmds/preflight_check/module.mk
@@ -40,3 +40,5 @@ MODULE_COMMAND	 = preflight_check
 SRCS		 = preflight_check.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/pwm/module.mk b/src/systemcmds/pwm/module.mk
index 4a23bba90..13a24150f 100644
--- a/src/systemcmds/pwm/module.mk
+++ b/src/systemcmds/pwm/module.mk
@@ -38,4 +38,4 @@
 MODULE_COMMAND	 = pwm
 SRCS		 = pwm.c
 
-MODULE_STACKSIZE = 4096
+MODULE_STACKSIZE = 1800
diff --git a/src/systemcmds/reboot/module.mk b/src/systemcmds/reboot/module.mk
index 19f64af54..edf9d8b37 100644
--- a/src/systemcmds/reboot/module.mk
+++ b/src/systemcmds/reboot/module.mk
@@ -39,3 +39,5 @@ MODULE_COMMAND	 = reboot
 SRCS		 = reboot.c
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 800
diff --git a/src/systemcmds/top/module.mk b/src/systemcmds/top/module.mk
index 985ea846f..548a09f85 100644
--- a/src/systemcmds/top/module.mk
+++ b/src/systemcmds/top/module.mk
@@ -38,7 +38,7 @@
 MODULE_COMMAND	 = top
 SRCS		 = top.c
 
-MODULE_STACKSIZE = 2048
+MODULE_STACKSIZE = 1700
 
 MAXOPTIMIZATION	 = -Os