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| author | px4dev <px4@purgatory.org> | 2012-10-01 00:02:38 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2012-10-01 00:02:38 -0700 |
| commit | 93c200d281e7488db95806840a6976b02d1afbe0 (patch) | |
| tree | 606a24e6778f54c3d7fa9939f303d89f76161d4e /apps/ardrone_interface/ardrone_interface.c | |
| parent | 6005077d54e6b96a5284752eedbd026ef7952341 (diff) | |
| download | px4-firmware-93c200d281e7488db95806840a6976b02d1afbe0.tar.gz px4-firmware-93c200d281e7488db95806840a6976b02d1afbe0.tar.bz2 px4-firmware-93c200d281e7488db95806840a6976b02d1afbe0.zip | |
Add new 'task_spawn' interface for starting new tasks in the PX4 world
Diffstat (limited to 'apps/ardrone_interface/ardrone_interface.c')
| -rw-r--r-- | apps/ardrone_interface/ardrone_interface.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c index 8ed6db664..74b32c4af 100644 --- a/apps/ardrone_interface/ardrone_interface.c +++ b/apps/ardrone_interface/ardrone_interface.c @@ -56,6 +56,8 @@ #include <uORB/topics/vehicle_status.h> #include <uORB/topics/actuator_controls.h> +#include <systemlib/systemlib.h> + #include "ardrone_motor_control.h" __EXPORT int ardrone_interface_main(int argc, char *argv[]); @@ -112,7 +114,12 @@ int ardrone_interface_main(int argc, char *argv[]) } thread_should_exit = false; - ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + ardrone_interface_task = task_spawn("ardrone_interface", + SCHED_RR, + SCHED_PRIORITY_MAX - 15, + 4096, + ardrone_interface_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } |