diff options
Diffstat (limited to 'src/modules/uavcan/uavcan_main.cpp')
| -rw-r--r-- | src/modules/uavcan/uavcan_main.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp index 482fec1e0..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) { @@ -548,14 +549,16 @@ UavcanNode::print_info() (void)pthread_mutex_lock(&_node_mutex); // ESC mixer status - warnx("ESC actuators control groups: sub: %u / req: %u / fds: %u", - (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); - warnx("ESC mixer: %s", (_mixers == nullptr) ? "NONE" : "OK"); + printf("ESC actuators control groups: sub: %u / req: %u / fds: %u\n", + (unsigned)_groups_subscribed, (unsigned)_groups_required, _poll_fds_num); + printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK"); // Sensor bridges auto br = _sensor_bridges.getHead(); while (br != nullptr) { - warnx("Sensor '%s': channels: %u", br->get_name(), br->get_num_redundant_channels()); + printf("Sensor '%s':\n", br->get_name()); + br->print_status(); + printf("\n"); br = br->getSibling(); } |