2 files changed, 36 insertions, 3 deletions
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 4c7aae83e..3d46a17a8 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -68,10 +68,10 @@ const struct __multiport_info multiport_info = {
  ****************************************************************************/
 
 /****************************************************************************
- * Public Functions
+ * Private Functions
  ****************************************************************************/
 
-void kill_task(FAR _TCB *tcb, FAR void *arg);
+static void kill_task(FAR _TCB *tcb, FAR void *arg);
 
 /****************************************************************************
  * user_start
@@ -116,11 +116,36 @@ void killall()
 	sched_foreach(kill_task, NULL);
 }
 
-void kill_task(FAR _TCB *tcb, FAR void *arg)
+static void kill_task(FAR _TCB *tcb, FAR void *arg)
 {
 	kill(tcb->pid, SIGUSR1);
 }
 
+int task_spawn(const char *name, int scheduler, int priority, int stack_size, main_t entry, const char *argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+		
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, &param);
+
+		/* XXX do any other private task accounting here */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
+
 #define PX4_BOARD_ID_FMU (5)
 
 int fmu_get_board_info(struct fmu_board_info_s *info)
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
index add47f440..da1524435 100644
--- a/apps/systemlib/systemlib.h
+++ b/apps/systemlib/systemlib.h
@@ -50,6 +50,14 @@ __EXPORT int reboot(void);
 /** Sends SIGUSR1 to all processes */
 __EXPORT void killall(void);
 
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT int task_spawn(const char *name,
+			int priority,
+			int scheduler,
+			int stack_size,
+			main_t entry,
+			const char *argv[]);
+
 enum MULT_PORTS {
 	MULT_0_US2_RXTX = 0,
 	MULT_1_US2_FLOW,