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commander: Reduce calibration count, minimally reduce stack sizes after careful inspection

This commit is contained in:
Lorenz Meier 2014-05-15 09:02:31 +02:00
parent 4176fc69bb
commit 1e13b5a02c
2 changed files with 3 additions and 3 deletions
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4
src/modules/commander/commander.cpp
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@ -249,7 +249,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
3000,
2950,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
@ -743,7 +743,7 @@ int commander_thread_main(int argc, char *argv[])
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
pthread_attr_setstacksize(&commander_low_prio_attr, 2900);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);

2
src/modules/commander/mag_calibration.cpp
View File

@ -72,7 +72,7 @@ int do_mag_calibration(int mavlink_fd)
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 500 values */
const unsigned int calibration_maxcount = 500;
const unsigned int calibration_maxcount = 240;
unsigned int calibration_counter;
struct mag_scale mscale_null = {