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-rw-r--r--apps/ardrone_interface/ardrone_interface.c2
-rw-r--r--apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c2
-rw-r--r--apps/commander/commander.c2
-rw-r--r--apps/examples/px4_deamon_app/px4_deamon_app.c2
-rw-r--r--apps/fixedwing_control/fixedwing_control.c2
-rw-r--r--apps/gps/gps.c2
-rw-r--r--apps/mavlink/mavlink.c2
-rw-r--r--apps/multirotor_att_control/multirotor_att_control_main.c2
-rw-r--r--apps/px4/fmu/fmu.cpp2
-rw-r--r--apps/sdlog/sdlog.c4
-rw-r--r--apps/sensors/sensors.cpp2
-rw-r--r--apps/systemcmds/led/led.c2
-rw-r--r--apps/systemlib/systemlib.c3
-rw-r--r--apps/systemlib/systemlib.h7
-rwxr-xr-xnuttx/configs/px4fmu/nsh/defconfig2
15 files changed, 22 insertions, 16 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index 74b32c4af..8d4a473b6 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -115,7 +115,7 @@ int ardrone_interface_main(int argc, char *argv[])
thread_should_exit = false;
ardrone_interface_task = task_spawn("ardrone_interface",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
ardrone_interface_thread_main,
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 41f469ae4..d2e0efb56 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -159,7 +159,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
20000,
attitude_estimator_ekf_thread_main,
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 77e4da850..16f74f43c 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -950,7 +950,7 @@ int commander_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("commander",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
4096,
commander_thread_main,
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c
index 6068df5a3..6eb046d45 100644
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ b/apps/examples/px4_deamon_app/px4_deamon_app.c
@@ -92,7 +92,7 @@ int px4_deamon_app_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("deamon",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
px4_deamon_thread_main,
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index 470d963af..ad08247e1 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -416,7 +416,7 @@ int fixedwing_control_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("fixedwing_control",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
4096,
fixedwing_control_thread_main,
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
index 8304c72e1..b26b09f95 100644
--- a/apps/gps/gps.c
+++ b/apps/gps/gps.c
@@ -143,7 +143,7 @@ int gps_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("gps",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
gps_thread_main,
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index b0cf01fd4..cec2593c1 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1872,7 +1872,7 @@ int mavlink_main(int argc, char *argv[])
thread_should_exit = false;
mavlink_task = task_spawn("mavlink",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
6000,
mavlink_thread_main,
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 72566a43c..5e492268e 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -353,7 +353,7 @@ int multirotor_att_control_main(int argc, char *argv[])
thread_should_exit = false;
mc_task = task_spawn("multirotor_att_control",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
mc_thread_main,
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index eeef2f914..18f27d49e 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -172,7 +172,7 @@ FMUServo::init()
/* start the IO interface task */
_task = task_spawn("fmuservo",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1024,
(main_t)&FMUServo::task_main_trampoline,
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index 0426dfb9c..22b8d82ee 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -109,7 +109,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn().
*/
int sdlog_main(int argc, char *argv[])
{
@@ -126,7 +126,7 @@ int sdlog_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("sdlog",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
4096,
sdlog_thread_main,
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index b9de42f76..7106edc6b 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1174,7 +1174,7 @@ Sensors::start()
/* start the task */
_sensors_task = task_spawn("sensors_task",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
6000, /* XXX may be excesssive */
(main_t)&Sensors::task_main_trampoline,
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c
index da0d99964..02c1bb133 100644
--- a/apps/systemcmds/led/led.c
+++ b/apps/systemcmds/led/led.c
@@ -148,7 +148,7 @@ int led_main(int argc, char *argv[])
thread_should_exit = false;
led_task = task_spawn("led",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
led_thread_main,
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 3d46a17a8..94a5283f0 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -138,9 +138,8 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
param.sched_priority = priority;
sched_setscheduler(pid, scheduler, &param);
- /* XXX do any other private task accounting here */
+ /* XXX do any other private task accounting here before the task starts */
}
-
sched_unlock();
return pid;
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
index da1524435..997f40ded 100644
--- a/apps/systemlib/systemlib.h
+++ b/apps/systemlib/systemlib.h
@@ -50,6 +50,13 @@ __EXPORT int reboot(void);
/** Sends SIGUSR1 to all processes */
__EXPORT void killall(void);
+/** Default scheduler type */
+#if CONFIG_RR_INTERVAL > 0
+# define SCHED_DEFAULT SCHED_RR
+#else
+# define SCHED_DEFAULT SCHED_FIFO
+#endif
+
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT int task_spawn(const char *name,
int priority,
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index e1ba862cf..c2656217d 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -546,7 +546,7 @@ CONFIG_HAVE_CXXINITIALIZE=n
CONFIG_MM_REGIONS=2
CONFIG_ARCH_LOWPUTC=y
CONFIG_MSEC_PER_TICK=1
-CONFIG_RR_INTERVAL=1
+CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_START_YEAR=1970
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-06 02:34:09 +0000