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Reducing stack sizes to free some RAM

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This commit is contained in:
Lorenz Meier
2012-10-30 16:44:57 +01:00
parent 96dc901cae
commit ab63a77edf
4 changed files with 7 additions and 6 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+4 -3
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@@ -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);