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mavlink: more streams implemented, stack size returned to 2048

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Anton Babushkin
2014-02-26 22:47:19 +04:00
parent f9619e3934
commit 85dc422d98
2 changed files with 164 additions and 66 deletions
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src/modules/mavlink/mavlink_main.cpp
+10 -16
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@@ -61,14 +61,6 @@
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@@ -79,6 +71,10 @@
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include "mavlink_bridge_header.h"
#include "mavlink_main.h"
#include "mavlink_messages.h"
@@ -1542,13 +1538,11 @@ Mavlink::task_main(int argc, char *argv[])
add_stream("HEARTBEAT", 1.0f);
add_stream("SYS_STATUS", 1.0f);
add_stream("HIGHRES_IMU", 20.0f);
// add_stream("RAW_IMU", 10.0f);
add_stream("ATTITUDE", 20.0f);
// add_stream("NAMED_VALUE_FLOAT", 5.0f);
// add_stream("SERVO_OUTPUT_RAW", 2.0f);
// add_stream("GPS_RAW_INT", 2.0f);
// add_stream("MANUAL_CONTROL", 2.0f);
add_stream("HIGHRES_IMU", 1.0f);
add_stream("ATTITUDE", 10.0f);
add_stream("GPS_RAW_INT", 1.0f);
add_stream("GLOBAL_POSITION_INT", 5.0f);
add_stream("LOCAL_POSITION_NED", 5.0f);
while (!_task_should_exit) {
/* main loop */
@@ -1656,7 +1650,7 @@ Mavlink::start(int argc, char *argv[])
/*mavlink->_mavlink_task = */task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
2048,
(main_t)&Mavlink::start_helper,
(const char **)argv);