From f766ba47aac230819027d248813235171fc844ab Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 13 Aug 2011 19:21:30 -0500
Subject: [PATCH] Increase the size of the eventdispatcher task and lower the
 maximum queue size.

---
 flight/CopterControl/System/inc/pios_config.h | 5 ++++-
 flight/UAVObjects/eventdispatcher.c           | 4 ++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/flight/CopterControl/System/inc/pios_config.h b/flight/CopterControl/System/inc/pios_config.h
index 944fe38c8..8e09d71ca 100644
--- a/flight/CopterControl/System/inc/pios_config.h
+++ b/flight/CopterControl/System/inc/pios_config.h
@@ -99,10 +99,13 @@
 #define PIOS_SYSTEM_STACK_SIZE          460
 #define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500
-#define PIOS_EVENTDISPATCHER_STACK_SIZE 96
+#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
 //#define PIOS_QUATERNION_STABILIZATION
 
+// This can't be too high to stop eventdispatcher thread overflowing
+#define PIOS_EVENTDISAPTCHER_QUEUE      10
+
 #endif /* PIOS_CONFIG_H */
 /**
  * @}
diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c
index 2d4bd2082..53a6e039d 100644
--- a/flight/UAVObjects/eventdispatcher.c
+++ b/flight/UAVObjects/eventdispatcher.c
@@ -27,7 +27,11 @@
 #include "openpilot.h"
 
 // Private constants
+#if defined(PIOS_EVENTDISAPTCHER_QUEUE)
+#define MAX_QUEUE_SIZE PIOS_EVENTDISAPTCHER_QUEUE
+#else
 #define MAX_QUEUE_SIZE 20
+#endif
 
 #if defined(PIOS_EVENTDISPATCHER_STACK_SIZE)
 #define STACK_SIZE PIOS_EVENTDISPATCHER_STACK_SIZE