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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/mavlink | |
| 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/mavlink')
| -rw-r--r-- | apps/mavlink/mavlink.c | 15 |
1 files changed, 11 insertions, 4 deletions
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index ea1c511f9..117387f36 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -75,7 +75,9 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/manual_control_setpoint.h> #include <uORB/topics/debug_key_value.h> + #include <systemlib/param/param.h> +#include <systemlib/systemlib.h> #include "waypoints.h" #include "mavlink_log.h" @@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string); uint64_t mavlink_missionlib_get_system_timestamp(void); void handleMessage(mavlink_message_t *msg); -static void mavlink_update_system(); +static void mavlink_update_system(void); /** * Enable / disable Hardware in the Loop simulation mode. @@ -1549,9 +1551,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf return uart; } -void mavlink_update_system() +void mavlink_update_system(void) { - static initialized = false; + static bool initialized = false; param_t param_system_id; param_t param_component_id; param_t param_system_type; @@ -1866,7 +1868,12 @@ int mavlink_main(int argc, char *argv[]) } thread_should_exit = false; - mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + mavlink_task = task_spawn("mavlink", + SCHED_RR, + SCHED_PRIORITY_DEFAULT, + 6000, + mavlink_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } |