diff options
Diffstat (limited to 'src/modules/mavlink')
| -rw-r--r-- | src/modules/mavlink/mavlink.c | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 | ||||
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 4 |
3 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c index 4d975066f..9bb92cbf5 100644 --- a/src/modules/mavlink/mavlink.c +++ b/src/modules/mavlink/mavlink.c @@ -794,7 +794,7 @@ int mavlink_main(int argc, char *argv[]) mavlink_task = task_spawn_cmd("mavlink", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 2048, + 1200, mavlink_thread_main, (const char **)argv); diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index a371a499e..f71dd9a3f 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -872,7 +872,7 @@ receive_start(int uart) 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, 1816); pthread_t thread; pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 5d071d0be..3acf3e262 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -357,7 +357,7 @@ l_input_rc(const struct listener *l) for (unsigned i = 0; (i * port_width) < rc_raw.channel_count; i++) { /* Channels are sent in MAVLink main loop at a fixed interval */ mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, + rc_raw.timestamp_publication / 1000, i, (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, @@ -838,7 +838,7 @@ uorb_receive_start(void) pthread_attr_init(&uorb_attr); /* Set stack size, needs less than 2k */ - pthread_attr_setstacksize(&uorb_attr, 2048); + pthread_attr_setstacksize(&uorb_attr, 1648); pthread_t thread; pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL); |