diff options
| 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/fixedwing_control | |
| 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/fixedwing_control')
| -rw-r--r-- | apps/fixedwing_control/fixedwing_control.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c index beabc1142..81ec4ca0b 100644 --- a/apps/fixedwing_control/fixedwing_control.c +++ b/apps/fixedwing_control/fixedwing_control.c @@ -60,6 +60,7 @@ #include <systemlib/param/param.h> #include <systemlib/pid/pid.h> #include <systemlib/geo/geo.h> +#include <systemlib/systemlib.h> #include <uORB/topics/debug_key_value.h> static bool thread_should_exit = false; /**< Deamon exit flag */ @@ -414,7 +415,12 @@ int fixedwing_control_main(int argc, char *argv[]) } thread_should_exit = false; - deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + deamon_task = task_spawn("fixedwing_control", + SCHED_RR, + SCHED_PRIORITY_MAX - 20, + 4096, + fixedwing_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); thread_running = true; exit(0); } |