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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/multirotor_att_control/multirotor_att_control_main.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/multirotor_att_control/multirotor_att_control_main.c')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index ebd9911a3..9acdc6fd3 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -67,6 +67,7 @@ #include <uORB/topics/actuator_controls.h> #include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> #include "multirotor_attitude_control.h" #include "multirotor_rate_control.h" @@ -350,7 +351,12 @@ int multirotor_att_control_main(int argc, char *argv[]) if (!strcmp(argv[1+optioncount], "start")) { thread_should_exit = false; - mc_task = task_create("multirotor_att_control", SCHED_PRIORITY_MAX - 15, 2048, mc_thread_main, NULL); + mc_task = task_spawn("multirotor_att_control", + SCHED_RR, + SCHED_PRIORITY_MAX - 15, + 2048, + mc_thread_main, + NULL); exit(0); } |