diff options
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index 867b484e1..e5907f961 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -60,6 +60,8 @@ #include <uORB/topics/vehicle_attitude.h> #include <arch/board/up_hrt.h> +#include <systemlib/systemlib.h> + #include "codegen/attitudeKalmanfilter_initialize.h" #include "codegen/attitudeKalmanfilter.h" @@ -150,7 +152,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) } thread_should_exit = false; - attitude_estimator_ekf_task = task_create("attitude_estimator_ekf", SCHED_PRIORITY_DEFAULT, 20000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); + attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf", + SCHED_RR, + SCHED_PRIORITY_DEFAULT, + 20000, + attitude_estimator_ekf_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); } |