forked from Archive/PX4-Autopilot
commit
3b31a6b1b9
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@ -209,7 +209,7 @@ GPS::init()
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goto out;
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/* start the GPS driver worker task */
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_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 2048, (main_t)&GPS::task_main_trampoline, nullptr);
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_task = task_create("gps", SCHED_PRIORITY_SLOW_DRIVER, 1280, (main_t)&GPS::task_main_trampoline, nullptr);
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if (_task < 0) {
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warnx("task start failed: %d", errno);
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@ -759,7 +759,7 @@ PX4IO::init()
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}
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/* start the IO interface task */
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_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 2048, (main_t)&PX4IO::task_main_trampoline, nullptr);
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_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 1024, (main_t)&PX4IO::task_main_trampoline, nullptr);
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if (_task < 0) {
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debug("task start failed: %d", errno);
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@ -237,7 +237,7 @@ int commander_main(int argc, char *argv[])
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daemon_task = task_spawn_cmd("commander",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 40,
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3000,
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2088,
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commander_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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@ -648,7 +648,7 @@ int commander_thread_main(int argc, char *argv[])
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pthread_attr_t commander_low_prio_attr;
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pthread_attr_init(&commander_low_prio_attr);
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pthread_attr_setstacksize(&commander_low_prio_attr, 2992);
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pthread_attr_setstacksize(&commander_low_prio_attr, 1728);
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struct sched_param param;
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(void)pthread_attr_getschedparam(&commander_low_prio_attr, ¶m);
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@ -773,7 +773,7 @@ int mavlink_main(int argc, char *argv[])
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mavlink_task = task_spawn_cmd("mavlink",
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SCHED_DEFAULT,
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SCHED_PRIORITY_DEFAULT,
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2048,
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1200,
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mavlink_thread_main,
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(const char **)argv);
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@ -871,7 +871,7 @@ receive_start(int uart)
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param.sched_priority = SCHED_PRIORITY_MAX - 40;
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(void)pthread_attr_setschedparam(&receiveloop_attr, ¶m);
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pthread_attr_setstacksize(&receiveloop_attr, 3000);
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pthread_attr_setstacksize(&receiveloop_attr, 1816);
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pthread_t thread;
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pthread_create(&thread, &receiveloop_attr, receive_thread, &uart);
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@ -838,7 +838,7 @@ uorb_receive_start(void)
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pthread_attr_init(&uorb_attr);
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/* Set stack size, needs less than 2k */
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pthread_attr_setstacksize(&uorb_attr, 2048);
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pthread_attr_setstacksize(&uorb_attr, 1648);
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pthread_t thread;
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pthread_create(&thread, &uorb_attr, uorb_receive_thread, NULL);
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@ -126,7 +126,7 @@ int multirotor_pos_control_main(int argc, char *argv[])
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deamon_task = task_spawn_cmd("multirotor_pos_control",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 60,
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4096,
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2408,
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multirotor_pos_control_thread_main,
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(argv) ? (const char **)&argv[2] : (const char **)NULL);
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exit(0);
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@ -128,7 +128,7 @@ int position_estimator_inav_main(int argc, char *argv[])
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thread_should_exit = false;
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position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
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SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
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SCHED_RR, SCHED_PRIORITY_MAX - 5, 2568,
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position_estimator_inav_thread_main,
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(argv) ? (const char **) &argv[2] : (const char **) NULL);
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exit(0);
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