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| author | Holger Steinhaus <holger@steinhaus-home.de> | 2014-08-15 14:22:41 +0200 |
|---|---|---|
| committer | Holger Steinhaus <holger@steinhaus-home.de> | 2014-08-19 22:48:15 +0200 |
| commit | 09a9ea87e77d2627b20bd6893a39627f57421f4d (patch) | |
| tree | 113e62e9c8897d80bc223290e22e73893503ccdf /src/modules/uavcan | |
| parent | 9e099b42fadffe466547512aed2edf26dafed8d4 (diff) | |
| download | px4-firmware-09a9ea87e77d2627b20bd6893a39627f57421f4d.tar.gz px4-firmware-09a9ea87e77d2627b20bd6893a39627f57421f4d.tar.bz2 px4-firmware-09a9ea87e77d2627b20bd6893a39627f57421f4d.zip | |
uavcan: increased thread prio, reduces roundtrip latency by a factor of 5..7
Diffstat (limited to 'src/modules/uavcan')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 4535b6d6a..f4d3cc77b 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -40,6 +40,7 @@ #include <systemlib/systemlib.h> #include <systemlib/mixer/mixer.h> #include <systemlib/board_serial.h> +#include <systemlib/scheduling_priorities.h> #include <version/version.h> #include <arch/board/board.h> #include <arch/chip/chip.h> @@ -164,7 +165,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate) * Start the task. Normally it should never exit. */ static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();}; - _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize, + _instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize, static_cast<main_t>(run_trampoline), nullptr); if (_instance->_task < 0) { |