Merge pull request #620 from pigeonhunter/stack_sizes

Stack sizes

src/drivers/gps/gps.cpp

@@ -209,7 +209,7 @@ 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_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 1280, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		warnx("task start failed: %d", errno);

src/drivers/px4io/px4io.cpp

@@ -759,7 +759,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
 
 	if (_task < 0) {
 		debug("task start failed: %d", errno);

src/modules/commander/commander.cpp

@@ -237,7 +237,7 @@ int commander_main(int argc, char *argv[])
 		daemon_task = task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
-					     3000,
+					     2088,
 					     commander_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 
@@ -648,7 +648,7 @@ 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, 1728);
 
 	struct sched_param param;
 	(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);

src/modules/mavlink/mavlink.c

@@ -773,7 +773,7 @@ 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);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -871,7 +871,7 @@ receive_start(int uart)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 3000);
+	pthread_attr_setstacksize(&receiveloop_attr, 1816);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);

src/modules/mavlink/orb_listener.c

@@ -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);

src/modules/multirotor_pos_control/multirotor_pos_control.c

@@ -126,7 +126,7 @@ int multirotor_pos_control_main(int argc, char *argv[])
 		deamon_task = task_spawn_cmd("multirotor_pos_control",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 60,
-					     4096,
+					     2408,
 					     multirotor_pos_control_thread_main,
 					     (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -128,7 +128,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
+					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 2568,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);