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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 17:24:33 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 17:24:33 +0100 |
| commit | caf0fefa32b5441f1093de460cbc77f6d3aa2f92 (patch) | |
| tree | 4972211af7a087b5393a2446f4af20bc4647da75 /apps/mavlink | |
| parent | dc72d467d4abe3d18bbf02091eb4eaddb4f491d2 (diff) | |
| download | px4-firmware-caf0fefa32b5441f1093de460cbc77f6d3aa2f92.tar.gz px4-firmware-caf0fefa32b5441f1093de460cbc77f6d3aa2f92.tar.bz2 px4-firmware-caf0fefa32b5441f1093de460cbc77f6d3aa2f92.zip | |
Cleaned up different uorb topics, cleaned up excessive stack sizes
Diffstat (limited to 'apps/mavlink')
| -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 |
4 files changed, 7 insertions, 4 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> |