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| author | px4dev <px4@purgatory.org> | 2012-12-01 22:53:15 -0800 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-12-01 22:53:15 -0800 |
| commit | d92827c54c5060075512cf41977a906912aff0d5 (patch) | |
| tree | b4abbc8eadbe95dae57d5344c5cf2a4944a5296c | |
| parent | 5609604af54a700d45b7b9495fe38ffbc5624479 (diff) | |
| parent | caf0fefa32b5441f1093de460cbc77f6d3aa2f92 (diff) | |
| download | px4-firmware-d92827c54c5060075512cf41977a906912aff0d5.tar.gz px4-firmware-d92827c54c5060075512cf41977a906912aff0d5.tar.bz2 px4-firmware-d92827c54c5060075512cf41977a906912aff0d5.zip | |
Merge pull request #76 from PX4/topics_cleanup
Cleaned up different uorb topics, cleaned up excessive stack sizes
| -rw-r--r-- | apps/mavlink/mavlink.c | 2 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 4 | ||||
| -rw-r--r-- | apps/mavlink/orb_listener.c | 4 | ||||
| -rw-r--r-- | apps/mavlink/orb_topics.h | 1 | ||||
| -rw-r--r-- | apps/sensors/sensors.cpp | 2 | ||||
| -rw-r--r-- | apps/uORB/topics/actuator_controls_effective.h | 7 |
6 files changed, 12 insertions, 8 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index b393620e2..81b907bcd 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -735,7 +735,7 @@ int mavlink_main(int argc, char *argv[]) mavlink_task = task_spawn("mavlink", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 6000, + 2048, mavlink_thread_main, (const char**)argv); exit(0); diff --git a/apps/mavlink/mavlink_receiver.c b/apps/mavlink/mavlink_receiver.c index 6b4375445..dd011aeed 100644 --- a/apps/mavlink/mavlink_receiver.c +++ b/apps/mavlink/mavlink_receiver.c @@ -202,6 +202,8 @@ handle_message(mavlink_message_t *msg) mavlink_vicon_position_estimate_t pos; mavlink_msg_vicon_position_estimate_decode(msg, &pos); + vicon_position.timestamp = hrt_absolute_time(); + vicon_position.x = pos.x; vicon_position.y = pos.y; vicon_position.z = pos.z; @@ -427,4 +429,4 @@ receive_start(int uart) pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); return thread; -}
\ No newline at end of file +} diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 4567a08f8..a067460d8 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -731,8 +731,8 @@ uorb_receive_start(void) pthread_attr_t uorb_attr; pthread_attr_init(&uorb_attr); - /* Set stack size, needs more than 8000 bytes */ - pthread_attr_setstacksize(&uorb_attr, 4096); + /* Set stack size, needs less than 2k */ + pthread_attr_setstacksize(&uorb_attr, 2048); pthread_t thread; pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); diff --git a/apps/mavlink/orb_topics.h b/apps/mavlink/orb_topics.h index 1b371e5cd..61e664401 100644 --- a/apps/mavlink/orb_topics.h +++ b/apps/mavlink/orb_topics.h @@ -54,6 +54,7 @@ #include <uORB/topics/vehicle_attitude_setpoint.h> #include <uORB/topics/optical_flow.h> #include <uORB/topics/actuator_outputs.h> +#include <uORB/topics/actuator_controls_effective.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/debug_key_value.h> diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 466284a1b..07a9015fe 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -1147,7 +1147,7 @@ Sensors::start() _sensors_task = task_spawn("sensors_task", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 6000, /* XXX may be excesssive */ + 2048, (main_t)&Sensors::task_main_trampoline, nullptr); diff --git a/apps/uORB/topics/actuator_controls_effective.h b/apps/uORB/topics/actuator_controls_effective.h index 3c72e4cb7..aad2c4d9b 100644 --- a/apps/uORB/topics/actuator_controls_effective.h +++ b/apps/uORB/topics/actuator_controls_effective.h @@ -48,13 +48,14 @@ #include <stdint.h> #include "../uORB.h" +#include "actuator_controls.h" -#define NUM_ACTUATOR_CONTROLS 8 -#define NUM_ACTUATOR_CONTROL_GROUPS 4 /**< for sanity checking */ +#define NUM_ACTUATOR_CONTROLS_EFFECTIVE NUM_ACTUATOR_CONTROLS +#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE NUM_ACTUATOR_CONTROL_GROUPS /**< for sanity checking */ struct actuator_controls_effective_s { uint64_t timestamp; - float control_effective[NUM_ACTUATOR_CONTROLS]; + float control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE]; }; /* actuator control sets; this list can be expanded as more controllers emerge */ |