From 93c200d281e7488db95806840a6976b02d1afbe0 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Mon, 1 Oct 2012 00:02:38 -0700
Subject: Add new 'task_spawn' interface for starting new tasks in the PX4
 world

---
 apps/fixedwing_control/fixedwing_control.c | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

(limited to 'apps/fixedwing_control')

diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index beabc1142..81ec4ca0b 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -60,6 +60,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/pid/pid.h>
 #include <systemlib/geo/geo.h>
+#include <systemlib/systemlib.h>
 #include <uORB/topics/debug_key_value.h>
 
 static bool thread_should_exit = false;		/**< Deamon exit flag */
@@ -414,7 +415,12 @@ int fixedwing_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		deamon_task = task_spawn("fixedwing_control",
+					 SCHED_RR,
+					 SCHED_PRIORITY_MAX - 20,
+					 4096,
+					 fixedwing_control_thread_main,
+					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		thread_running = true;
 		exit(0);
 	}
-- 
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