From 162e0c76754ca8e8a9edb69d907091910159df14 Mon Sep 17 00:00:00 2001 From: TSC21 Date: Fri, 31 Jul 2020 10:45:03 +0100 Subject: [PATCH] microRTPS: client: reserve the minimum required stack to the send/receive tasks --- msg/templates/uorb_microcdr/microRTPS_client.cpp.em | 2 +- .../micrortps_bridge/micrortps_client/microRTPS_client_main.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em index 57af8606e9..3b18818334 100644 --- a/msg/templates/uorb_microcdr/microRTPS_client.cpp.em +++ b/msg/templates/uorb_microcdr/microRTPS_client.cpp.em @@ -170,7 +170,7 @@ static int launch_send_thread(pthread_t &sender_thread) { pthread_attr_t sender_thread_attr; pthread_attr_init(&sender_thread_attr); - pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(4096)); + pthread_attr_setstacksize(&sender_thread_attr, PX4_STACK_ADJUSTED(2250)); struct sched_param param; (void)pthread_attr_getschedparam(&sender_thread_attr, ¶m); param.sched_priority = SCHED_PRIORITY_DEFAULT; diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp index 8eb126fabf..28f1da8843 100644 --- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp +++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp @@ -214,7 +214,7 @@ int micrortps_client_main(int argc, char *argv[]) _rtps_task = px4_task_spawn_cmd("rtps", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, - 4096, + 2650, (px4_main_t) micrortps_start, (char *const *)argv);