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In a slight variation from the standard FreeRTOS convention, StackType_t on esp-idf is uint8_t, so the stack size is specified in bytes not words. So passing 1024 for usStackDepth yields a 1KB stack not a 4KB stack. I'll make sure we document this somewhere.
As far as I know (I'm sure Jeroen can explain this properly if I'm wrong), the main reason that even simple tasks need some stack space is that exception handlers (ie interrupt handlers) use the running task's stack, both for saving context and for executing the ISR. It may be possible to rework this in the future so that all exception handlers share a stack region, however as exceptions can be configured in various ways (multiple levels, preemption, etc.) this may be quite complex to get right.
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