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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 13:40:25 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-27 13:40:25 +0200 |
| commit | 62b98cc9447262111da1e9ecac700a180f121482 (patch) | |
| tree | 0b12079389a4f7b562f4997a3d8bb209d695efe2 /src/modules | |
| parent | b928897ab525a79eb2fad202fc28ef0235adeb50 (diff) | |
| parent | 09a9ea87e77d2627b20bd6893a39627f57421f4d (diff) | |
| download | px4-firmware-62b98cc9447262111da1e9ecac700a180f121482.tar.gz px4-firmware-62b98cc9447262111da1e9ecac700a180f121482.tar.bz2 px4-firmware-62b98cc9447262111da1e9ecac700a180f121482.zip | |
Merge pull request #1329 from hsteinhaus/uavcan_prio
uavcan: increased thread prio, reduces roundtrip latency by a factor of ...
Diffstat (limited to 'src/modules')
| -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 95c6ba13e..a8485ee44 100644 --- a/src/modules/uavcan/uavcan_main.cpp +++ b/src/modules/uavcan/uavcan_main.cpp @@ -41,6 +41,7 @@ #include <systemlib/param/param.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> @@ -175,7 +176,7 @@ 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) { |