From a74553a4548691aa6ae5b5a4300459aaaa5db044 Mon Sep 17 00:00:00 2001
From: weety <luohui2320@gmail.com>
Date: Sat, 3 May 2025 23:14:02 +0800
Subject: [PATCH] Optimize stack space allocation to fix Pixhawk 2.4.8 boot
 failure.

---
 src/driver/vision_flow/mtf_01.c             | 2 +-
 src/module/mavproxy/mavproxy_monitor.c      | 2 +-
 src/module/workqueue/workqueue_manager.c    | 4 ++--
 src/task/comm/task_comm.c                   | 2 +-
 src/task/fmtio/task_fmtio.c                 | 3 ++-
 src/task/logger/task_logger.c               | 2 +-
 src/task/status/task_status.c               | 2 +-
 src/task/vehicle/multicopter/task_vehicle.c | 2 +-
 8 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/driver/vision_flow/mtf_01.c b/src/driver/vision_flow/mtf_01.c
index 44d77fa50..795280052 100644
--- a/src/driver/vision_flow/mtf_01.c
+++ b/src/driver/vision_flow/mtf_01.c
@@ -214,7 +214,7 @@ rt_err_t drv_mtf_01_init(const char* uart_dev_name)
 
     RT_ASSERT(dev != NULL);
 
-    thread = rt_thread_create("mtf-01", thread_entry, RT_NULL, 2 * 1024, 7, 1);
+    thread = rt_thread_create("mtf-01", thread_entry, RT_NULL, 1536, 7, 1);
 
     RT_ASSERT(thread != NULL);
 
diff --git a/src/module/mavproxy/mavproxy_monitor.c b/src/module/mavproxy/mavproxy_monitor.c
index 1d26de1ec..795e51b48 100644
--- a/src/module/mavproxy/mavproxy_monitor.c
+++ b/src/module/mavproxy/mavproxy_monitor.c
@@ -29,7 +29,7 @@ struct mavlink_msg_handler_func {
 static LIST_HEAD(__mavlink_msg_chan0_handler_head);
 static LIST_HEAD(__mavlink_msg_chan1_handler_head);
 
-static char thread_mavlink_rx_stack[8192];
+static char thread_mavlink_rx_stack[4096];
 static struct rt_thread thread_mavlink_rx_handle;
 static struct rt_event mav_rx_event;
 
diff --git a/src/module/workqueue/workqueue_manager.c b/src/module/workqueue/workqueue_manager.c
index c1e7f72db..0ae9451dd 100644
--- a/src/module/workqueue/workqueue_manager.c
+++ b/src/module/workqueue/workqueue_manager.c
@@ -37,10 +37,10 @@ WorkQueue_t workqueue_find(const char* name)
 
 fmt_err_t workqueue_manager_init(void)
 {
-    wq_list[0] = workqueue_create("wq:lp_work", 20, 4096, 19);
+    wq_list[0] = workqueue_create("wq:lp_work", 20, 2048, 19);
     RT_ASSERT(wq_list[0] != NULL);
 
-    wq_list[1] = workqueue_create("wq:hp_work", 20, 4096, 6);
+    wq_list[1] = workqueue_create("wq:hp_work", 20, 2048, 6);
     RT_ASSERT(wq_list[1] != NULL);
 
     return FMT_EOK;
diff --git a/src/task/comm/task_comm.c b/src/task/comm/task_comm.c
index d2c2a8c10..d93d71130 100644
--- a/src/task/comm/task_comm.c
+++ b/src/task/comm/task_comm.c
@@ -842,7 +842,7 @@ TASK_EXPORT __fmt_task2_desc = {
     .entry = task_mavobc_entry,
     .priority = MAVOBC_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 4096,
+    .stack_size = 2048,
     .param = NULL,
     .dependency = (char*[]) { "mavgcs", NULL }
 };
diff --git a/src/task/fmtio/task_fmtio.c b/src/task/fmtio/task_fmtio.c
index 8e65cdcdb..1b60b1298 100644
--- a/src/task/fmtio/task_fmtio.c
+++ b/src/task/fmtio/task_fmtio.c
@@ -1,3 +1,4 @@
+
 /******************************************************************************
  * Copyright 2020 The Firmament Authors. All Rights Reserved.
  *
@@ -36,7 +37,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_fmtio_entry,
     .priority = FMTIO_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 2048,
+    .stack_size = 1536,
     .param = NULL,
     .dependency = NULL
 };
\ No newline at end of file
diff --git a/src/task/logger/task_logger.c b/src/task/logger/task_logger.c
index 0fea0ad2d..fdb858099 100644
--- a/src/task/logger/task_logger.c
+++ b/src/task/logger/task_logger.c
@@ -184,7 +184,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_logger_entry,
     .priority = LOGGER_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 2048,
+    .stack_size = 1536,
     .param = NULL,
     .dependency = (char*[]) { "vehicle", NULL }
 };
diff --git a/src/task/status/task_status.c b/src/task/status/task_status.c
index b1de4ded0..d21dbab66 100644
--- a/src/task/status/task_status.c
+++ b/src/task/status/task_status.c
@@ -299,7 +299,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry      = task_status_entry,
     .priority   = STATUS_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 4096,
+    .stack_size = 3072,
     .param      = NULL,
     .dependency = NULL
 };
diff --git a/src/task/vehicle/multicopter/task_vehicle.c b/src/task/vehicle/multicopter/task_vehicle.c
index 374d74bd7..78cd442de 100644
--- a/src/task/vehicle/multicopter/task_vehicle.c
+++ b/src/task/vehicle/multicopter/task_vehicle.c
@@ -125,7 +125,7 @@ TASK_EXPORT __fmt_task_desc = {
     .entry = task_vehicle_entry,
     .priority = VEHICLE_THREAD_PRIORITY,
     .auto_start = true,
-    .stack_size = 5 * 1024,
+    .stack_size = 2560,
     .param = NULL,
     .dependency = NULL
 };