diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.logging | 2 | ||||
-rw-r--r-- | nuttx-configs/px4fmu-v1/nsh/defconfig | 2 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/frsky_data.c | 2 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/frsky_telemetry.c | 2 | ||||
-rw-r--r-- | src/drivers/frsky_telemetry/module.mk | 2 | ||||
-rw-r--r-- | src/drivers/gps/gps.cpp | 12 | ||||
-rw-r--r-- | src/drivers/gps/module.mk | 2 | ||||
-rw-r--r-- | src/examples/flow_position_estimator/flow_position_estimator_main.c | 5 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 2 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/module.mk | 2 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 | ||||
-rw-r--r-- | src/systemcmds/nshterm/module.mk | 2 |
13 files changed, 22 insertions, 17 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging index 009e7431a..517e073af 100644 --- a/ROMFS/px4fmu_common/init.d/rc.logging +++ b/ROMFS/px4fmu_common/init.d/rc.logging @@ -8,7 +8,7 @@ then if ver hwcmp PX4FMU_V1 then echo "Start sdlog2 at 50Hz" - sdlog2 start -r 50 -a -b 5 -t + sdlog2 start -r 50 -a -b 4 -t else echo "Start sdlog2 at 200Hz" sdlog2 start -r 200 -a -b 16 -t diff --git a/nuttx-configs/px4fmu-v1/nsh/defconfig b/nuttx-configs/px4fmu-v1/nsh/defconfig index c599b118f..bc0c12067 100644 --- a/nuttx-configs/px4fmu-v1/nsh/defconfig +++ b/nuttx-configs/px4fmu-v1/nsh/defconfig @@ -418,7 +418,7 @@ CONFIG_PREALLOC_TIMERS=50 # Stack and heap information # CONFIG_IDLETHREAD_STACKSIZE=4096 -CONFIG_USERMAIN_STACKSIZE=4096 +CONFIG_USERMAIN_STACKSIZE=3500 CONFIG_PTHREAD_STACK_MIN=512 CONFIG_PTHREAD_STACK_DEFAULT=2048 diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c index 57a03bc84..18de3f4da 100644 --- a/src/drivers/frsky_telemetry/frsky_data.c +++ b/src/drivers/frsky_telemetry/frsky_data.c @@ -53,6 +53,8 @@ #include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_status.h> +#include <drivers/drv_hrt.h> + /* FrSky sensor hub data IDs */ #define FRSKY_ID_GPS_ALT_BP 0x01 #define FRSKY_ID_TEMP1 0x02 diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/frsky_telemetry/frsky_telemetry.c index 7b08ca69e..6e0839043 100644 --- a/src/drivers/frsky_telemetry/frsky_telemetry.c +++ b/src/drivers/frsky_telemetry/frsky_telemetry.c @@ -222,7 +222,7 @@ int frsky_telemetry_main(int argc, char *argv[]) frsky_task = task_spawn_cmd("frsky_telemetry", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2048, + 2000, frsky_telemetry_thread_main, (const char **)argv); diff --git a/src/drivers/frsky_telemetry/module.mk b/src/drivers/frsky_telemetry/module.mk index 1632c74f7..9a49589ee 100644 --- a/src/drivers/frsky_telemetry/module.mk +++ b/src/drivers/frsky_telemetry/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = frsky_telemetry SRCS = frsky_data.c \ frsky_telemetry.c + +MODULE_STACKSIZE = 1200 diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 2d8d37298..6195cd6ea 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -56,6 +56,7 @@ #include <arch/board/board.h> #include <drivers/drv_hrt.h> #include <drivers/device/i2c.h> +#include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> #include <systemlib/scheduling_priorities.h> #include <systemlib/err.h> @@ -78,12 +79,6 @@ #endif static const int ERROR = -1; -#ifndef CONFIG_SCHED_WORKQUEUE -# error This requires CONFIG_SCHED_WORKQUEUE. -#endif - - - class GPS : public device::CDev { public: @@ -211,7 +206,8 @@ GPS::init() goto out; /* start the GPS driver worker task */ - _task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr); + _task = task_spawn_cmd("gps", SCHED_DEFAULT, + SCHED_PRIORITY_SLOW_DRIVER, 2000, (main_t)&GPS::task_main_trampoline, nullptr); if (_task < 0) { warnx("task start failed: %d", errno); diff --git a/src/drivers/gps/module.mk b/src/drivers/gps/module.mk index 82c67d40a..eb382c4b2 100644 --- a/src/drivers/gps/module.mk +++ b/src/drivers/gps/module.mk @@ -41,3 +41,5 @@ SRCS = gps.cpp \ gps_helper.cpp \ mtk.cpp \ ubx.cpp + +MODULE_STACKSIZE = 1200 diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index 495c415f2..c775428ef 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -65,6 +65,7 @@ #include <uORB/topics/optical_flow.h> #include <uORB/topics/filtered_bottom_flow.h> #include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> #include <poll.h> #include "flow_position_estimator_params.h" @@ -109,9 +110,9 @@ int flow_position_estimator_main(int argc, char *argv[]) thread_should_exit = false; daemon_task = task_spawn_cmd("flow_position_estimator", - SCHED_RR, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 4096, + 4000, flow_position_estimator_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 199e85305..6c97bfca7 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -2204,7 +2204,7 @@ Mavlink::start(int argc, char *argv[]) task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2000, + 1950, (main_t)&Mavlink::start_helper, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index b03a68c07..72b9ee83a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -949,7 +949,7 @@ MavlinkReceiver::receive_start(Mavlink *parent) param.sched_priority = SCHED_PRIORITY_MAX - 40; (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - pthread_attr_setstacksize(&receiveloop_attr, 3000); + pthread_attr_setstacksize(&receiveloop_attr, 2900); pthread_t thread; pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent); diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk index 939d76849..0658d3f09 100644 --- a/src/modules/position_estimator_inav/module.mk +++ b/src/modules/position_estimator_inav/module.mk @@ -39,3 +39,5 @@ MODULE_COMMAND = position_estimator_inav SRCS = position_estimator_inav_main.c \ position_estimator_inav_params.c \ inertial_filter.c + +MODULE_STACKSIZE = 1200 diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 368424853..d8d0ff37d 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); diff --git a/src/systemcmds/nshterm/module.mk b/src/systemcmds/nshterm/module.mk index fe79ec3b7..b22b446da 100644 --- a/src/systemcmds/nshterm/module.mk +++ b/src/systemcmds/nshterm/module.mk @@ -38,4 +38,4 @@ MODULE_COMMAND = nshterm SRCS = nshterm.c -MODULE_STACKSIZE = 1500 +MODULE_STACKSIZE = 1200 |