Merge pull request #965 from PX4/stack_fixes

Stack fixes

src/modules/mavlink/mavlink_main.cpp

@@ -2204,7 +2204,7 @@ Mavlink::start(int argc, char *argv[])
 	task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
-		       2000,
+		       1950,
 		       (main_t)&Mavlink::start_helper,
 		       (const char **)argv);
 

src/modules/mavlink/mavlink_receiver.cpp

@@ -949,7 +949,7 @@ MavlinkReceiver::receive_start(Mavlink *parent)
 	param.sched_priority = SCHED_PRIORITY_MAX - 40;
 	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
 
-	pthread_attr_setstacksize(&receiveloop_attr, 3000);
+	pthread_attr_setstacksize(&receiveloop_attr, 2900);
 
 	pthread_t thread;
 	pthread_create(&thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);

src/modules/position_estimator_inav/module.mk

@@ -39,3 +39,5 @@ MODULE_COMMAND	 	= position_estimator_inav
 SRCS		 	= position_estimator_inav_main.c \
 			position_estimator_inav_params.c \
 			inertial_filter.c
+
+MODULE_STACKSIZE = 1200

src/modules/position_estimator_inav/position_estimator_inav_main.c

@@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
-					       SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
+					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000,
 					       position_estimator_inav_thread_main,
 					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
 		exit(0);