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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 22:47:19 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-26 22:47:19 +0400 |
| commit | 85dc422d9804c894009e37c6eaab67a10c5dca28 (patch) | |
| tree | 9a2846622200bd4347c95de6ea35fb7b2cc18433 /src/modules/mavlink/mavlink_main.cpp | |
| parent | f9619e39341dbc45683c6ccd7e06397f8a537216 (diff) | |
| download | px4-firmware-85dc422d9804c894009e37c6eaab67a10c5dca28.tar.gz px4-firmware-85dc422d9804c894009e37c6eaab67a10c5dca28.tar.bz2 px4-firmware-85dc422d9804c894009e37c6eaab67a10c5dca28.zip | |
mavlink: more streams implemented, stack size returned to 2048
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 26 |
1 files changed, 10 insertions, 16 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 33d81729c..5ac76e1cf 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -61,14 +61,6 @@ #include <drivers/device/device.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> -#include <uORB/uORB.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/home_position.h> -#include <uORB/topics/vehicle_status.h> -#include <uORB/topics/position_setpoint_triplet.h> -#include <uORB/topics/parameter_update.h> -#include <uORB/topics/mission.h> -#include <uORB/topics/mission_result.h> #include <systemlib/param/param.h> #include <systemlib/err.h> @@ -79,6 +71,10 @@ #include <mathlib/mathlib.h> #include <mavlink/mavlink_log.h> +#include <uORB/topics/parameter_update.h> +#include <uORB/topics/mission.h> +#include <uORB/topics/mission_result.h> + #include "mavlink_bridge_header.h" #include "mavlink_main.h" #include "mavlink_messages.h" @@ -1542,13 +1538,11 @@ Mavlink::task_main(int argc, char *argv[]) add_stream("HEARTBEAT", 1.0f); add_stream("SYS_STATUS", 1.0f); - add_stream("HIGHRES_IMU", 20.0f); -// add_stream("RAW_IMU", 10.0f); - add_stream("ATTITUDE", 20.0f); -// add_stream("NAMED_VALUE_FLOAT", 5.0f); -// add_stream("SERVO_OUTPUT_RAW", 2.0f); -// add_stream("GPS_RAW_INT", 2.0f); -// add_stream("MANUAL_CONTROL", 2.0f); + add_stream("HIGHRES_IMU", 1.0f); + add_stream("ATTITUDE", 10.0f); + add_stream("GPS_RAW_INT", 1.0f); + add_stream("GLOBAL_POSITION_INT", 5.0f); + add_stream("LOCAL_POSITION_NED", 5.0f); while (!_task_should_exit) { /* main loop */ @@ -1656,7 +1650,7 @@ Mavlink::start(int argc, char *argv[]) /*mavlink->_mavlink_task = */task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 4096, + 2048, (main_t)&Mavlink::start_helper, (const char **)argv); |