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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/px4 | |
| 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/px4')
| -rw-r--r-- | apps/px4/fmu/fmu.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp index 48d338c99..eeef2f914 100644 --- a/apps/px4/fmu/fmu.cpp +++ b/apps/px4/fmu/fmu.cpp @@ -66,6 +66,8 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_outputs.h> +#include <systemlib/systemlib.h> + class FMUServo : public device::CDev { public: @@ -169,7 +171,12 @@ FMUServo::init() return ret; /* start the IO interface task */ - _task = task_create("fmuservo", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&FMUServo::task_main_trampoline, nullptr); + _task = task_spawn("fmuservo", + SCHED_RR, + SCHED_PRIORITY_DEFAULT, + 1024, + (main_t)&FMUServo::task_main_trampoline, + nullptr); if (_task < 0) { debug("task start failed: %d", errno); |