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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 17:27:52 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-27 17:27:52 +0100 |
| commit | 98283e16b0da59d19c54e6cb8f55924c258e1cb3 (patch) | |
| tree | 91b5dc95bb6009661e18aa4ddc752270444e5fe8 /apps | |
| parent | 67fbe415dc85c5eaf07714289fef1bf1d9c7dda4 (diff) | |
| parent | caf0fefa32b5441f1093de460cbc77f6d3aa2f92 (diff) | |
| download | px4-firmware-98283e16b0da59d19c54e6cb8f55924c258e1cb3.tar.gz px4-firmware-98283e16b0da59d19c54e6cb8f55924c258e1cb3.tar.bz2 px4-firmware-98283e16b0da59d19c54e6cb8f55924c258e1cb3.zip | |
Merged
Diffstat (limited to 'apps')
| -rw-r--r-- | apps/mavlink/mavlink.c | 2 | ||||
| -rw-r--r-- | apps/mavlink/mavlink_receiver.c | 2 | ||||
| -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 | 2 |
6 files changed, 8 insertions, 5 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index a94591424..77034914f 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 1801ddc9b..fb59d07a1 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; diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index 254100b2e..b0aa401fc 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -754,8 +754,8 @@ 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 0eb2fabfd..4650c4991 100644 --- a/apps/mavlink/orb_topics.h +++ b/apps/mavlink/orb_topics.h @@ -56,6 +56,7 @@ #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> #include <drivers/drv_rc_input.h> diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index fd71780cc..71feb377b 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -1188,7 +1188,7 @@ 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 83f082c8a..40278c56c 100644 --- a/apps/uORB/topics/actuator_controls_effective.h +++ b/apps/uORB/topics/actuator_controls_effective.h @@ -55,7 +55,7 @@ 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 */ |