From 88a4d0deca60d52d02daea09ab508eb03e793956 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 14 Oct 2015 14:27:49 +0200
Subject: [PATCH] EKF: Reduce excessive stack size

---
 .../ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp        | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 48d30ceac8..615ad143aa 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1122,7 +1122,7 @@ int AttitudePositionEstimatorEKF::start()
 	_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 20,
-					 4200,
+					 3900,
 					 (px4_main_t)&AttitudePositionEstimatorEKF::task_main_trampoline,
 					 nullptr);