Reducing stack sizes to free some RAM

apps/ardrone_interface/ardrone_interface.c

@@ -117,7 +117,7 @@ int ardrone_interface_main(int argc, char *argv[])
 		ardrone_interface_task = task_spawn("ardrone_interface",
 						    SCHED_DEFAULT,
 						    SCHED_PRIORITY_MAX - 15,
-						    4096,
+						    2048,
 						    ardrone_interface_thread_main,
 						    (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);

apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c

@@ -150,7 +150,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
 				SCHED_DEFAULT,
 				SCHED_PRIORITY_MAX - 5,
-				20000,
+				12000,
 				attitude_estimator_ekf_thread_main,
 				(argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);

apps/multirotor_att_control/multirotor_att_control_main.c

@@ -217,8 +217,9 @@ mc_thread_main(int argc, char *argv[])
 				att_sp.roll_body = manual.roll;
 				att_sp.pitch_body = manual.pitch;
 				/* only move setpoint if manual input is != 0 */
-				if (manual.yaw < -0.02f || 0.02f < manual.yaw) {
-					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * -0.0025f;
+				// XXX turn into param
+				if (manual.yaw < -0.01f || 0.01f < manual.yaw) {
+					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.01f;
 				}
 				att_sp.thrust = manual.throttle;
 				att_sp.timestamp = hrt_absolute_time();
@@ -338,7 +339,7 @@ int multirotor_att_control_main(int argc, char *argv[])
 		mc_task = task_spawn("multirotor_att_control",
 				     SCHED_DEFAULT,
 				     SCHED_PRIORITY_MAX - 15,
-				     6000,
+				     2048,
 				     mc_thread_main,
 				     NULL);
 		exit(0);

apps/sdlog/sdlog.c

@@ -144,7 +144,7 @@ int sdlog_main(int argc, char *argv[])
 		deamon_task = task_spawn("sdlog",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT - 30,
-					 4096,
+					 2048,
 					 sdlog_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);