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commander: Fix status checks for leds and adjust stack size based on actual use

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Lorenz Meier
2015-03-15 14:33:22 +01:00
parent 9db48df3d6
commit 49b3906b78
2 changed files with 37 additions and 22 deletions
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src/modules/commander/commander.cpp
+14 -13
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@@ -967,19 +967,6 @@ int commander_thread_main(int argc, char *argv[])
int ret;
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 2000);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
(void)pthread_attr_setschedparam(&commander_low_prio_attr, &param);
pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
pthread_attr_destroy(&commander_low_prio_attr);
/* Start monitoring loop */
unsigned counter = 0;
unsigned stick_off_counter = 0;
@@ -1144,6 +1131,20 @@ int commander_thread_main(int argc, char *argv[])
bool main_state_changed = false;
bool failsafe_old = false;
/* initialize low priority thread */
pthread_attr_t commander_low_prio_attr;
pthread_attr_init(&commander_low_prio_attr);
pthread_attr_setstacksize(&commander_low_prio_attr, 1600);
struct sched_param param;
(void)pthread_attr_getschedparam(&commander_low_prio_attr, &param);
/* low priority */
param.sched_priority = SCHED_PRIORITY_DEFAULT - 50;
(void)pthread_attr_setschedparam(&commander_low_prio_attr, &param);
pthread_create(&commander_low_prio_thread, &commander_low_prio_attr, commander_low_prio_loop, NULL);
pthread_attr_destroy(&commander_low_prio_attr);
while (!thread_should_exit) {
if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) {