From f7e62349b39c111b65cc7062a9bfe9efc1ebfd8b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 20 Oct 2019 11:44:54 -0400
Subject: [PATCH] px4_posix: increase posix stack overhead (mostly for ASan)

 - sync address sanitizer SITL tests
---
 .ci/Jenkinsfile-SITL_tests_ASan | 29 ++++++++++++++++++++++-------
 src/platforms/px4_posix.h       |  2 +-
 2 files changed, 23 insertions(+), 8 deletions(-)

diff --git a/.ci/Jenkinsfile-SITL_tests_ASan b/.ci/Jenkinsfile-SITL_tests_ASan
index e969eab685d3..acd9f41ec88f 100644
--- a/.ci/Jenkinsfile-SITL_tests_ASan
+++ b/.ci/Jenkinsfile-SITL_tests_ASan
@@ -80,12 +80,26 @@ pipeline {
               mission: "VTOL_mission_1",
               vehicle: "tailsitter"
             ],
-            // [
-            //   name: "VTOL_tiltrotor",
-            //   test: "mavros_posix_test_mission.test",
-            //   mission: "VTOL_mission_1",
-            //   vehicle: "tiltrotor"
-            // ],
+            [
+              name: "VTOL_tiltrotor",
+              test: "mavros_posix_test_mission.test",
+              mission: "VTOL_mission_1",
+              vehicle: "tiltrotor"
+            ],
+            [
+              name: "MC_avoidance",
+              test: "mavros_posix_test_avoidance.test",
+              mission: "avoidance",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
+            [
+              name: "MC_safe_landing",
+              test: "mavros_posix_test_safe_landing.test",
+              mission: "MC_safe_landing",
+              vehicle: "iris_obs_avoid",
+              run_script: "rostest_avoidance_run.sh"
+            ],
 
           ]
 
@@ -119,6 +133,7 @@ def createTestNode(Map test_def) {
       cleanWs()
       docker.image("px4io/px4-dev-ros-kinetic:2019-10-04").inside('-e HOME=${WORKSPACE}') {
         stage(test_def.name) {
+          def run_script = test_def.get('run_script', 'rostest_px4_run.sh')
           def test_ok = true
           sh('export')
 
@@ -127,7 +142,7 @@ def createTestNode(Map test_def) {
 
           // run test
           try {
-            sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+            sh('px4-px4_sitl_default*/px4/test/' + run_script + ' ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
 
           } catch (exc) {
             // save all test artifacts for debugging
diff --git a/src/platforms/px4_posix.h b/src/platforms/px4_posix.h
index 973a73e1afef..d8e346699e10 100644
--- a/src/platforms/px4_posix.h
+++ b/src/platforms/px4_posix.h
@@ -81,7 +81,7 @@ typedef struct pollfd px4_pollfd_struct_t;
 
 #elif defined(__PX4_POSIX)
 
-#define	 PX4_STACK_OVERHEAD	8192
+#define	 PX4_STACK_OVERHEAD	(1024 * 11)
 
 /**
  * Terminates the calling process immediately.