From 85dc422d9804c894009e37c6eaab67a10c5dca28 Mon Sep 17 00:00:00 2001
From: Anton Babushkin <anton.babushkin@me.com>
Date: Wed, 26 Feb 2014 22:47:19 +0400
Subject: mavlink: more streams implemented, stack size returned to 2048

---
 src/modules/mavlink/mavlink_main.cpp | 26 ++++++++++----------------
 1 file changed, 10 insertions(+), 16 deletions(-)

(limited to 'src/modules/mavlink/mavlink_main.cpp')

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 33d81729c..5ac76e1cf 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -61,14 +61,6 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_hrt.h>
 #include <arch/board/board.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/home_position.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/mission.h>
-#include <uORB/topics/mission_result.h>
 
 #include <systemlib/param/param.h>
 #include <systemlib/err.h>
@@ -79,6 +71,10 @@
 #include <mathlib/mathlib.h>
 #include <mavlink/mavlink_log.h>
 
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
 #include "mavlink_bridge_header.h"
 #include "mavlink_main.h"
 #include "mavlink_messages.h"
@@ -1542,13 +1538,11 @@ Mavlink::task_main(int argc, char *argv[])
 
 	add_stream("HEARTBEAT", 1.0f);
 	add_stream("SYS_STATUS", 1.0f);
-	add_stream("HIGHRES_IMU", 20.0f);
-//	add_stream("RAW_IMU", 10.0f);
-	add_stream("ATTITUDE", 20.0f);
-//	add_stream("NAMED_VALUE_FLOAT", 5.0f);
-//	add_stream("SERVO_OUTPUT_RAW", 2.0f);
-//	add_stream("GPS_RAW_INT", 2.0f);
-//	add_stream("MANUAL_CONTROL", 2.0f);
+	add_stream("HIGHRES_IMU", 1.0f);
+	add_stream("ATTITUDE", 10.0f);
+	add_stream("GPS_RAW_INT", 1.0f);
+	add_stream("GLOBAL_POSITION_INT", 5.0f);
+	add_stream("LOCAL_POSITION_NED", 5.0f);
 
 	while (!_task_should_exit) {
 		/* main loop */
@@ -1656,7 +1650,7 @@ Mavlink::start(int argc, char *argv[])
 	/*mavlink->_mavlink_task = */task_spawn_cmd(buf,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
-					 4096,
+					 2048,
 					 (main_t)&Mavlink::start_helper,
 					 (const char **)argv);
 
-- 
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