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-rw-r--r--ROMFS/px4fmu_common/init.d/rc.logging2
-rw-r--r--nuttx-configs/px4fmu-v1/nsh/defconfig2
-rw-r--r--src/drivers/frsky_telemetry/frsky_data.c2
-rw-r--r--src/drivers/frsky_telemetry/frsky_telemetry.c2
-rw-r--r--src/drivers/frsky_telemetry/module.mk2
-rw-r--r--src/drivers/gps/gps.cpp12
-rw-r--r--src/drivers/gps/module.mk2
-rw-r--r--src/examples/flow_position_estimator/flow_position_estimator_main.c5
-rw-r--r--src/modules/mavlink/mavlink_main.cpp2
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp2
-rw-r--r--src/modules/position_estimator_inav/module.mk2
-rw-r--r--src/modules/position_estimator_inav/position_estimator_inav_main.c2
-rw-r--r--src/systemcmds/nshterm/module.mk2
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, &param);
- 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
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-22 09:57:38 +0000