Merge branch 'master' into yaw_offset_limit

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
- *           Lorenz Meier <lm@inf.ethz.ch>
+ *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,9 +32,12 @@
  ****************************************************************************/
 
 /*
- * @file attitude_estimator_ekf_main.c
+ * @file attitude_estimator_ekf_main.cpp
  *
  * Extended Kalman Filter for Attitude Estimation.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
 #include <nuttx/config.h>
@@ -111,7 +112,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_ekf_main(int argc, char *argv[])
 {

src/modules/attitude_estimator_ekf/module.mk

@@ -50,3 +50,5 @@ SRCS		 = attitude_estimator_ekf_main.cpp \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
 		   codegen/cross.c
+
+MODULE_STACKSIZE = 1200

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Hyon Lim <limhyon@gmail.com>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,6 +34,9 @@
  /*
  * @file attitude_estimator_so3_main.cpp
  *
+ * @author Hyon Lim <limhyon@gmail.com>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * Implementation of nonlinear complementary filters on the SO(3).
  * This code performs attitude estimation by using accelerometer, gyroscopes and magnetometer.
  * Result is provided as quaternion, 1-2-3 Euler angle and rotation matrix.
@@ -131,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn_cmd().
  */
 int attitude_estimator_so3_main(int argc, char *argv[])
 {

src/modules/attitude_estimator_so3/module.mk

@@ -6,3 +6,5 @@ MODULE_COMMAND	 = attitude_estimator_so3
 
 SRCS		 = attitude_estimator_so3_main.cpp \
 		   attitude_estimator_so3_params.c
+
+MODULE_STACKSIZE = 1200

src/modules/commander/commander.cpp

@@ -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);

src/modules/commander/mag_calibration.cpp

@@ -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 = {
@@ -121,6 +121,20 @@ int do_mag_calibration(int mavlink_fd)
 
 		if (x == NULL || y == NULL || z == NULL) {
 			mavlink_log_critical(mavlink_fd, "ERROR: out of memory");
+
+			/* clean up */
+			if (x != NULL) {
+				free(x);
+			}
+
+			if (y != NULL) {
+				free(y);
+			}
+
+			if (z != NULL) {
+				free(z);
+			}
+
 			res = ERROR;
 			return res;
 		}

src/modules/commander/module.mk

@@ -47,3 +47,7 @@ SRCS		 	= commander.cpp \
 			baro_calibration.cpp \
 			rc_calibration.cpp \
 			airspeed_calibration.cpp
+
+MODULE_STACKSIZE = 1200
+
+MAXOPTIMIZATION	 = -Os

src/modules/dataman/dataman.c

@@ -1,10 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: 	Jean Cyr
- *              Lorenz Meier
- *              Julian Oes
- *              Thomas Gubler
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +33,11 @@
 /**
  * @file dataman.c
  * DATAMANAGER driver.
+ *
+ * @author Jean Cyr
+ * @author Lorenz Meier
+ * @author Julian Oes
+ * @author Thomas Gubler
  */
 
 #include <nuttx/config.h>
@@ -62,7 +63,7 @@ __EXPORT ssize_t dm_write(dm_item_t  item, unsigned char index, dm_persitence_t
 __EXPORT int dm_clear(dm_item_t item);
 __EXPORT int dm_restart(dm_reset_reason restart_type);
 
-/* Types of function calls supported by the worker task */
+/** Types of function calls supported by the worker task */
 typedef enum {
 	dm_write_func = 0,
 	dm_read_func,
@@ -71,11 +72,12 @@ typedef enum {
 	dm_number_of_funcs
 } dm_function_t;
 
-/* Work task work item */
+/** Work task work item */
 typedef struct {
 	sq_entry_t link;	/**< list linkage */
 	sem_t wait_sem;
-	dm_function_t func;
+	unsigned char first;
+	unsigned char func;
 	ssize_t result;
 	union {
 		struct {
@@ -100,6 +102,8 @@ typedef struct {
 	};
 } work_q_item_t;
 
+const size_t k_work_item_allocation_chunk_size = 8;
+
 /* Usage statistics */
 static unsigned g_func_counts[dm_number_of_funcs];
 
@@ -177,9 +181,23 @@ create_work_item(void)
 
 	unlock_queue(&g_free_q);
 
-	/* If we there weren't any free items then obtain memory for a new one */
-	if (item == NULL)
-		item = (work_q_item_t *)malloc(sizeof(work_q_item_t));
+	/* If we there weren't any free items then obtain memory for a new ones */
+	if (item == NULL) {
+		item = (work_q_item_t *)malloc(k_work_item_allocation_chunk_size * sizeof(work_q_item_t));
+		if (item) {
+			item->first = 1;
+			lock_queue(&g_free_q);
+			for (int i = 1; i < k_work_item_allocation_chunk_size; i++) {
+				(item + i)->first = 0;
+				sq_addfirst(&(item + i)->link, &(g_free_q.q));
+			}
+			/* Update the queue size and potentially the maximum queue size */
+			g_free_q.size += k_work_item_allocation_chunk_size - 1;
+			if (g_free_q.size > g_free_q.max_size)
+				g_free_q.max_size = g_free_q.size;
+			unlock_queue(&g_free_q);
+		}
+	}
 
 	/* If we got one then lock the item*/
 	if (item)
@@ -411,7 +429,7 @@ _clear(dm_item_t item)
 	return result;
 }
 
-/* Tell the data manager about the type of the last reset */
+/** Tell the data manager about the type of the last reset */
 static int
 _restart(dm_reset_reason reason)
 {
@@ -480,7 +498,7 @@ _restart(dm_reset_reason reason)
 	return result;
 }
 
-/* write to the data manager file */
+/** Write to the data manager file */
 __EXPORT ssize_t
 dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const void *buf, size_t count)
 {
@@ -505,7 +523,7 @@ dm_write(dm_item_t item, unsigned char index, dm_persitence_t persistence, const
 	return (ssize_t)enqueue_work_item_and_wait_for_result(work);
 }
 
-/* Retrieve from the data manager file */
+/** Retrieve from the data manager file */
 __EXPORT ssize_t
 dm_read(dm_item_t item, unsigned char index, void *buf, size_t count)
 {
@@ -717,8 +735,8 @@ task_main(int argc, char *argv[])
 	for (;;) {
 		if ((work = (work_q_item_t *)sq_remfirst(&(g_free_q.q))) == NULL)
 			break;
-
-		free(work);
+		if (work->first)
+			free(work);
 	}
 
 	destroy_q(&g_work_q);
@@ -736,7 +754,7 @@ start(void)
 	sem_init(&g_init_sema, 1, 0);
 
 	/* start the worker thread */
-	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, NULL)) <= 0) {
+	if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2000, task_main, NULL)) <= 0) {
 		warn("task start failed");
 		return -1;
 	}

src/modules/dataman/dataman.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -46,7 +46,7 @@
 extern "C" {
 #endif
 
-	/* Types of items that the data manager can store */
+	/** Types of items that the data manager can store */
 	typedef enum {
 		DM_KEY_SAFE_POINTS = 0,		/* Safe points coordinates, safe point 0 is home point */
 		DM_KEY_FENCE_POINTS,		/* Fence vertex coordinates */
@@ -56,7 +56,7 @@ extern "C" {
 		DM_KEY_NUM_KEYS			/* Total number of item types defined */
 	} dm_item_t;
 
-	/* The maximum number of instances for each item type */
+	/** The maximum number of instances for each item type */
 	enum {
 		DM_KEY_SAFE_POINTS_MAX = 8,
 		DM_KEY_FENCE_POINTS_MAX = GEOFENCE_MAX_VERTICES,
@@ -65,24 +65,24 @@ extern "C" {
 		DM_KEY_WAYPOINTS_ONBOARD_MAX = NUM_MISSIONS_SUPPORTED
 	};
 
-	/* Data persistence levels */
+	/** Data persistence levels */
 	typedef enum {
 		DM_PERSIST_POWER_ON_RESET = 0,	/* Data survives all resets */
 		DM_PERSIST_IN_FLIGHT_RESET,     /* Data survives in-flight resets only */
 		DM_PERSIST_VOLATILE             /* Data does not survive resets */
 	} dm_persitence_t;
 
-	/* The reason for the last reset */
+	/** The reason for the last reset */
 	typedef enum {
 		DM_INIT_REASON_POWER_ON = 0,	/* Data survives resets */
 		DM_INIT_REASON_IN_FLIGHT,		/* Data survives in-flight resets only */
 		DM_INIT_REASON_VOLATILE			/* Data does not survive reset */
 	} dm_reset_reason;
 
-	/* Maximum size in bytes of a single item instance */
+	/** Maximum size in bytes of a single item instance */
 	#define DM_MAX_DATA_SIZE 124
 
-	/* Retrieve from the data manager store */
+	/** Retrieve from the data manager store */
 	__EXPORT ssize_t
 	dm_read(
 		dm_item_t item,			/* The item type to retrieve */
@@ -91,7 +91,7 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* write to the data manager store */
+	/** write to the data manager store */
 	__EXPORT ssize_t
 	dm_write(
 		dm_item_t  item,		/* The item type to store */
@@ -101,13 +101,13 @@ extern "C" {
 		size_t buflen			/* Length in bytes of data to retrieve */
 	);
 
-	/* Erase all items of this type */
+	/** Erase all items of this type */
 	__EXPORT int
 	dm_clear(
 		dm_item_t item			/* The item type to clear */
 		);
 
-	/* Tell the data manager about the type of the last reset */
+	/** Tell the data manager about the type of the last reset */
 	__EXPORT int
 	dm_restart(
 		dm_reset_reason restart_type	/* The last reset type */

src/modules/dataman/module.mk

@@ -38,3 +38,5 @@
 MODULE_COMMAND	= dataman
 
 SRCS		= dataman.c
+
+MODULE_STACKSIZE = 1200

src/modules/mavlink/mavlink_main.cpp

@@ -1523,6 +1523,8 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
 void
 Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
 {
+	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
+
 	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
 
 	mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len);
@@ -2193,7 +2195,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2048,
+		       2000,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 

src/modules/mavlink/mavlink_main.h

@@ -237,7 +237,6 @@ private:
 
 	orb_advert_t	_mission_pub;
 	struct mission_s mission;
-	uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
 	MAVLINK_MODE _mode;
 
 	uint8_t _mavlink_wpm_comp_id;

src/modules/mavlink/module.mk

@@ -48,3 +48,5 @@ SRCS		 += mavlink_main.cpp \
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 
 MAXOPTIMIZATION	 = -Os
+
+MODULE_STACKSIZE = 1024

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *           @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +32,13 @@
  ****************************************************************************/
 
 /**
- * @file mc_att_control_main.c
+ * @file mc_att_control_main.cpp
  * Multicopter attitude controller.
  *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ *
  * The controller has two loops: P loop for angular error and PD loop for angular rate error.
  * Desired rotation calculated keeping in mind that yaw response is normally slower than roll/pitch.
  * For small deviations controller rotates copter to have shortest path of thrust vector and independently rotates around yaw,
@@ -825,7 +826,7 @@ MulticopterAttitudeControl::start()
 	_control_task = task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterAttitudeControl::task_main_trampoline,
 				       nullptr);
 

src/modules/mc_att_control/mc_att_control_params.c

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Tobias Naegeli <naegelit@student.ethz.ch>
- *   	     @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -37,6 +34,10 @@
 /**
  * @file mc_att_control_params.c
  * Parameters for multicopter attitude controller.
+ *
+ * @author Tobias Naegeli <naegelit@student.ethz.ch>
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -1062,7 +1062,7 @@ MulticopterPositionControl::start()
 	_control_task = task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&MulticopterPositionControl::task_main_trampoline,
 				       nullptr);
 

src/modules/mc_pos_control/mc_pos_control_params.c

@@ -35,6 +35,8 @@
 /**
  * @file mc_pos_control_params.c
  * Multicopter position controller parameters.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #include <systemlib/param/param.h>

src/modules/navigator/geofence.cpp

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.cpp
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 #include "geofence.h"
 

src/modules/navigator/geofence.h

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Thomas Gubler <thomasgubler@gmail.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file geofence.h
  * Provides functions for handling the geofence
+ *
+ * @author Jean Cyr <jean.m.cyr@gmail.com>
+ * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
 #ifndef GEOFENCE_H_

src/modules/navigator/geofence_params.c

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/modules/navigator/mission_feasibility_checker.cpp

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,9 @@
 /**
  * @file mission_feasibility_checker.cpp
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
 
 #include "mission_feasibility_checker.h"

src/modules/navigator/mission_feasibility_checker.h

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +33,11 @@
 /**
  * @file mission_feasibility_checker.h
  * Provides checks if mission is feasible given the navigation capabilities
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
  */
+
 #ifndef MISSION_FEASIBILITY_CHECKER_H_
 #define MISSION_FEASIBILITY_CHECKER_H_
 

src/modules/navigator/module.mk

@@ -45,3 +45,5 @@ SRCS		= navigator_main.cpp \
 		  geofence_params.c
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
+
+MODULE_STACKSIZE = 1200

src/modules/navigator/navigator_main.cpp

@@ -1,10 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Jean Cyr <jean.m.cyr@gmail.com>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,7 +31,7 @@
  *
  ****************************************************************************/
 /**
- * @file navigator_main.c
+ * @file navigator_main.cpp
  * Implementation of the main navigation state machine.
  *
  * Handles missions, geo fencing and failsafe navigation behavior.
@@ -852,7 +848,7 @@ Navigator::start()
 	_navigator_task = task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 5,
-					 2048,
+					 2000,
 					 (main_t)&Navigator::task_main_trampoline,
 					 nullptr);
 

src/modules/navigator/navigator_mission.cpp

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +33,8 @@
 /**
  * @file navigator_mission.cpp
  * Helper class to access missions
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #include <string.h>

src/modules/navigator/navigator_mission.h

@@ -1,7 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Julian Oes <joes@student.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -34,6 +33,8 @@
 /**
  * @file navigator_mission.h
  * Helper class to access missions
+ *
+ * @author Julian Oes <joes@student.ethz.ch>
  */
 
 #ifndef NAVIGATOR_MISSION_H

src/modules/navigator/navigator_params.c

@@ -1,9 +1,6 @@
 /****************************************************************************
  *
  *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
- *           @author Julian Oes <joes@student.ethz.ch>
- *           @author Anton Babushkin <anton.babushkin@me.com>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

src/modules/navigator/navigator_state.h

@@ -1,8 +1,42 @@
-/*
- * navigator_state.h
+/****************************************************************************
  *
- *  Created on: 27.01.2014
- *      Author: ton
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file navigator_state.h
+ *
+ * Navigator state
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
 #ifndef NAVIGATOR_STATE_H_

src/modules/sdlog2/module.mk

@@ -41,3 +41,5 @@ MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
 
 SRCS = sdlog2.c \
        logbuffer.c
+
+MODULE_STACKSIZE = 1200

src/modules/sensors/module.mk

@@ -40,3 +40,5 @@ MODULE_PRIORITY	= "SCHED_PRIORITY_MAX-5"
 
 SRCS		= sensors.cpp \
 		  sensor_params.c
+
+MODULE_STACKSIZE = 1200

src/modules/sensors/sensors.cpp

@@ -1669,7 +1669,7 @@ Sensors::start()
 	_sensors_task = task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
-				       2048,
+				       2000,
 				       (main_t)&Sensors::task_main_trampoline,
 				       nullptr);
 

src/modules/systemlib/pid/pid.c

@@ -53,7 +53,7 @@
 
 #define SIGMA 0.000001f
 
-__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min)
+__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min)
 {
 	pid->mode = mode;
 	pid->dt_min = dt_min;