From 8630d82ea2b27389b686fe191e9b2f2fbd44f235 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Fri, 16 May 2014 10:46:10 +0200
Subject: gps driver: Use correct spawn command, use a smaller start tool size

---
 src/drivers/gps/gps.cpp   | 12 ++++--------
 src/drivers/gps/module.mk |  2 ++
 2 files changed, 6 insertions(+), 8 deletions(-)

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
-- 
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