diff options
Diffstat (limited to 'src/drivers/ardrone_interface')
| -rw-r--r-- | src/drivers/ardrone_interface/ardrone_interface.c | 2 | ||||
| -rw-r--r-- | src/drivers/ardrone_interface/ardrone_motor_control.c | 2 | ||||
| -rw-r--r-- | src/drivers/ardrone_interface/module.mk | 3 |
3 files changed, 4 insertions, 3 deletions
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c index b88f61ce8..e5bb772b3 100644 --- a/src/drivers/ardrone_interface/ardrone_interface.c +++ b/src/drivers/ardrone_interface/ardrone_interface.c @@ -119,7 +119,7 @@ int ardrone_interface_main(int argc, char *argv[]) ardrone_interface_task = task_spawn_cmd("ardrone_interface", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 15, - 2048, + 1100, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index 81f634992..fc017dd58 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -382,8 +382,6 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls float output_band = 0.0f; const float startpoint_full_control = 0.25f; /**< start full control at 25% thrust */ - static bool initialized = false; - /* linearly scale the control inputs from 0 to startpoint_full_control */ if (motor_thrust < startpoint_full_control) { output_band = motor_thrust/startpoint_full_control; // linear from 0 to 1 diff --git a/src/drivers/ardrone_interface/module.mk b/src/drivers/ardrone_interface/module.mk index 058bd1397..285db1351 100644 --- a/src/drivers/ardrone_interface/module.mk +++ b/src/drivers/ardrone_interface/module.mk @@ -38,3 +38,6 @@ MODULE_COMMAND = ardrone_interface SRCS = ardrone_interface.c \ ardrone_motor_control.c +MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os |