Minor tweaks and command parsing debugging

6 files changed, 11 insertions, 26 deletions

diff --git a/apps/commander/Makefile b/apps/commander/Makefile
index d12697274..f2972ac4e 100644
--- a/apps/commander/Makefile
+++ b/apps/commander/Makefile
@@ -37,7 +37,7 @@
 
 APPNAME		 = commander
 PRIORITY	 = SCHED_PRIORITY_MAX - 30
-STACKSIZE	 = 2048
+STACKSIZE	 = 4096
 
 INCLUDES	= $(TOPDIR)/../mavlink/include/mavlink
 
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index c151d791b..9fc987910 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -425,7 +425,6 @@ static void *receiveloop(void *arg)
 
 			/* Handle packet with parameter component */
 			mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
-			msg.msgid = -1;
 		}
 
 	}
@@ -967,7 +966,6 @@ void handleMessage(mavlink_message_t *msg)
 	 */
 
 	// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
-#define DEG2RAD ((1.0/180.0)*M_PI)
 
 	if (mavlink_hil_enabled) {
 
@@ -1270,13 +1268,13 @@ int mavlink_main(int argc, char *argv[])
 
 	pthread_attr_t receiveloop_attr;
 	pthread_attr_init(&receiveloop_attr);
-	pthread_attr_setstacksize(&receiveloop_attr, 4096);
+	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 	pthread_create(&receive_thread, &receiveloop_attr, receiveloop, NULL);
 
 	pthread_attr_t uorb_attr;
 	pthread_attr_init(&uorb_attr);
-	/* Set stack size, needs more than 5000 bytes */
-	pthread_attr_setstacksize(&uorb_attr, 7000);
+	/* Set stack size, needs more than 4000 bytes */
+	pthread_attr_setstacksize(&uorb_attr, 4096);
 	pthread_create(&uorb_receive_thread, &uorb_attr, uorb_receiveloop, NULL);
 
 	/* initialize waypoint manager */
diff --git a/apps/px4/attitude_estimator_bm/Makefile b/apps/px4/attitude_estimator_bm/Makefile
index 172940115..2c1cfc510 100644
--- a/apps/px4/attitude_estimator_bm/Makefile
+++ b/apps/px4/attitude_estimator_bm/Makefile
@@ -37,6 +37,6 @@
 
 APPNAME		 = attitude_estimator_bm
 PRIORITY	= SCHED_PRIORITY_MAX - 10
-STACKSIZE	= 8000
+STACKSIZE	= 12000
 
 include $(APPDIR)/mk/app.mk
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c
index 1506dee1d..5e93f180f 100644
--- a/apps/sensors/sensors.c
+++ b/apps/sensors/sensors.c
@@ -852,7 +852,7 @@ int sensors_main(int argc, char *argv[])
 
 				if (ADC_BATTERY_VOLATGE_CHANNEL == buf_adc.am_channel1) {
 					/* Voltage in volts */
-					raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (uint16_t)(buf_adc.am_data1 * battery_voltage_conversion)));
+					raw.battery_voltage_v = (BAT_VOL_LOWPASS_1 * (raw.battery_voltage_v + BAT_VOL_LOWPASS_2 * (buf_adc.am_data1 * battery_voltage_conversion)));
 
 					if ((buf_adc.am_data1 * battery_voltage_conversion) < VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS) {
 						raw.battery_voltage_valid = false;
diff --git a/apps/uORB/topics/vehicle_status.h b/apps/uORB/topics/vehicle_status.h
index 8b2b6525c..2cd179da0 100644
--- a/apps/uORB/topics/vehicle_status.h
+++ b/apps/uORB/topics/vehicle_status.h
@@ -126,10 +126,10 @@ struct vehicle_status_s
 	uint32_t onboard_control_sensors_present;
 	uint32_t onboard_control_sensors_enabled;
 	uint32_t onboard_control_sensors_health;
-	uint16_t load;
-	uint16_t voltage_battery;
-	int16_t current_battery;
-	int8_t battery_remaining;
+	float load;
+	float voltage_battery;
+	float current_battery;
+	float battery_remaining;
 	uint16_t drop_rate_comm;
 	uint16_t errors_comm;
 	uint16_t errors_count1;
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c
index 6e092e3b4..d089f2df3 100644
--- a/nuttx/configs/px4fmu/src/up_nsh.c
+++ b/nuttx/configs/px4fmu/src/up_nsh.c
@@ -236,19 +236,6 @@ int nsh_archinitialize(void)
 
   if (acc_fail) message("[boot] FAILED to attach BMA180 accelerometer\r\n");
 
-  int mpu_attempts = 0;
-  int mpu_fail = 0;
-
-  while (mpu_attempts < 1)
-  {
-	  mpu_fail = mpu6000_attach(spi1, PX4_SPIDEV_MPU);
-	  mpu_attempts++;
-	  if (mpu_fail == 0) break;
-	  up_udelay(200);
-  }
-
-  if (mpu_fail) message("[boot] FAILED to attach MPU 6000 gyro/acc\r\n");
-
   /* initialize I2C2 bus */
 
   i2c2 = up_i2cinitialize(2);
@@ -320,7 +307,7 @@ int nsh_archinitialize(void)
   if (eeprom_fail) message("[boot] FAILED to attach FMU EEPROM\r\n");
 
   /* Report back sensor status */
-  if (acc_fail || gyro_fail || mag_fail || baro_fail || eeprom_fail)
+  if (gyro_fail || mag_fail || baro_fail || eeprom_fail)
   {
 	  up_ledon(LED_AMBER);
   }