px4_fmu-v5_stackcheck: update stack sizes and add to Jenkins

- increase stack sizes to run cleanly under stackcheck
     - this is likely overkill for most boards, but using stackcheck to set our minimum ensures we have a very safe margin on regular builds and it's something we can currently afford
 - remove holybro_durandal-v1_stackcheck from test rack (there's only one unit)

.ci/Jenkinsfile-hardware

@@ -509,9 +509,9 @@ pipeline {
           }
         }
 
-        stage("modalai_fc-v1_default") {
+        stage("px4_fmu-v5_stackcheck") {
           stages {
-            stage("build modalai_fc-v1_default") {
+            stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
@@ -523,10 +523,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_default'
+                sh 'make px4_fmu-v5_stackcheck'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
+                stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -536,42 +536,44 @@ pipeline {
             } // stage build
             stage("test") {
               agent {
-                label 'modalai_fc-v1'
+                label 'px4_fmu-v5'
               }
               stages {
                 stage("flash") {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_default'
+                    unstash 'px4_fmu-v5_stackcheck'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                         // reboot to apply
                   }
                 }
                 stage("status") {
                   steps {
-                    statusSEGGER()
+                    statusFTDI()
                   }
                 }
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
                 stage("reset") {
                   steps {
-                    cleanupSEGGER()
+                    cleanupFTDI();
                   }
                 }
               }
@@ -582,9 +584,9 @@ pipeline {
           }
         }
 
-        stage("holybro_durandal-v1_default") {
+        stage("modalai_fc-v1_default") {
           stages {
-            stage("build holybro_durandal-v1_default") {
+            stage("build modalai_fc-v1_default") {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
@@ -596,10 +598,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_default'
+                sh 'make modalai_fc-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
+                stash includes: 'build/modalai_fc-v1_default/modalai_fc-v1_default.elf', name: 'modalai_fc-v1_default'
               }
               post {
                 always {
@@ -609,43 +611,42 @@ pipeline {
             } // stage build
             stage("test") {
               agent {
-                label 'holybro_durandal-v1'
+                label 'modalai_fc-v1'
               }
               stages {
                 stage("flash") {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_default'
+                    unstash 'modalai_fc-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
+                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
                   }
                 }
                 stage("configure") {
                   steps {
                     // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'                        // reboot to apply
                   }
                 }
                 stage("status") {
                   steps {
-                    statusFTDI()
+                    statusSEGGER()
                   }
                 }
                 stage("tests") {
                   steps {
                     // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-SEGGER_*`'
                   }
                 }
                 stage("reset") {
                   steps {
-                    cleanupFTDI();
+                    cleanupSEGGER()
                   }
                 }
               }
@@ -656,9 +657,9 @@ pipeline {
           }
         }
 
-        stage("holybro_durandal-v1_stackcheck") {
+        stage("holybro_durandal-v1_default") {
           stages {
-            stage("build holybro_durandal-v1_stackcheck") {
+            stage("build holybro_durandal-v1_default") {
               agent {
                 docker {
                   image 'px4io/px4-dev-nuttx-bionic:2020-04-01'
@@ -670,10 +671,10 @@ pipeline {
                 sh 'make distclean'
                 sh 'ccache -s'
                 sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_stackcheck'
+                sh 'make holybro_durandal-v1_default'
                 sh 'make sizes'
                 sh 'ccache -s'
-                stash includes: 'build/holybro_durandal-v1_stackcheck/holybro_durandal-v1_stackcheck.elf', name: 'holybro_durandal-v1_stackcheck'
+                stash includes: 'build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf', name: 'holybro_durandal-v1_default'
               }
               post {
                 always {
@@ -690,9 +691,9 @@ pipeline {
                   steps {
                     sh 'export'
                     sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_stackcheck'
+                    unstash 'holybro_durandal-v1_default'
                     // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_stackcheck/holybro_durandal-v1_stackcheck.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
                     sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                   }
                 }
@@ -717,19 +718,6 @@ pipeline {
                     sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
                   }
                 }
-                stage("stop modules") {
-                  steps {
-                    // manually stop everything
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "ekf2 stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "fmu stop"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io stop"'
-                  }
-                }
                 stage("reset") {
                   steps {
                     cleanupFTDI();

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -244,5 +244,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -271,5 +271,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -198,5 +198,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -105,5 +105,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="bootloader_main"

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -248,6 +248,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y

boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig

@@ -249,6 +249,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -226,5 +226,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/intel/aerofc-v1/nuttx-config/nsh/defconfig

@@ -204,5 +204,5 @@ CONFIG_USART6_RXDMA=y
 CONFIG_USART6_SERIAL_CONSOLE=y
 CONFIG_USART6_TXBUFSIZE=300
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/modalai/fc-v1/nuttx-config/nsh/defconfig

@@ -257,5 +257,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -245,5 +245,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -247,5 +247,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/mro/x21/nuttx-config/nsh/defconfig

@@ -243,5 +243,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -213,6 +213,6 @@ CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_DUALSPEED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y

boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig

@@ -243,6 +243,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -198,5 +198,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -249,5 +249,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v3/nuttx-config/nsh/defconfig

@@ -248,5 +248,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig

@@ -249,5 +249,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -246,5 +246,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/nuttx-config/optimized/defconfig

@@ -247,5 +247,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig

@@ -247,5 +247,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig

@@ -251,5 +251,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig

@@ -254,5 +254,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig

@@ -253,5 +253,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -252,5 +252,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/optimized/defconfig

@@ -253,5 +253,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig

@@ -253,5 +253,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/stackcheck.cmake

@@ -67,6 +67,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		fw_att_control
 		fw_pos_control_l1

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -292,5 +292,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5x/nuttx-config/p2_base_phy_LAN8742Ai/defconfig

@@ -293,5 +293,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

boards/uvify/core/nuttx-config/nsh/defconfig

@@ -246,5 +246,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2688
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -48,21 +48,21 @@ struct wq_config_t {
 
 namespace wq_configurations
 {
-static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1600, 0}; // PX4 inner loop highest priority
-
-static constexpr wq_config_t SPI0{"wq:SPI0", 2368, -1};
-static constexpr wq_config_t SPI1{"wq:SPI1", 2368, -2};
-static constexpr wq_config_t SPI2{"wq:SPI2", 2368, -3};
-static constexpr wq_config_t SPI3{"wq:SPI3", 2368, -4};
-static constexpr wq_config_t SPI4{"wq:SPI4", 2368, -5};
-static constexpr wq_config_t SPI5{"wq:SPI5", 2368, -6};
-static constexpr wq_config_t SPI6{"wq:SPI6", 2368, -7};
-
-static constexpr wq_config_t I2C0{"wq:I2C0", 1400, -8};
-static constexpr wq_config_t I2C1{"wq:I2C1", 1400, -9};
-static constexpr wq_config_t I2C2{"wq:I2C2", 1400, -10};
-static constexpr wq_config_t I2C3{"wq:I2C3", 1400, -11};
-static constexpr wq_config_t I2C4{"wq:I2C4", 1400, -12};
+static constexpr wq_config_t rate_ctrl{"wq:rate_ctrl", 1664, 0}; // PX4 inner loop highest priority
+
+static constexpr wq_config_t SPI0{"wq:SPI0", 2496, -1};
+static constexpr wq_config_t SPI1{"wq:SPI1", 2496, -2};
+static constexpr wq_config_t SPI2{"wq:SPI2", 2496, -3};
+static constexpr wq_config_t SPI3{"wq:SPI3", 2496, -4};
+static constexpr wq_config_t SPI4{"wq:SPI4", 2496, -5};
+static constexpr wq_config_t SPI5{"wq:SPI5", 2496, -6};
+static constexpr wq_config_t SPI6{"wq:SPI6", 2496, -7};
+
+static constexpr wq_config_t I2C0{"wq:I2C0", 1472, -8};
+static constexpr wq_config_t I2C1{"wq:I2C1", 1472, -9};
+static constexpr wq_config_t I2C2{"wq:I2C2", 1472, -10};
+static constexpr wq_config_t I2C3{"wq:I2C3", 1472, -11};
+static constexpr wq_config_t I2C4{"wq:I2C4", 1472, -12};
 
 // PX4 att/pos controllers, highest priority after sensors.
 static constexpr wq_config_t att_pos_ctrl{"wq:att_pos_ctrl", 7200, -13};