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/mavlink/mavlink.c | 15 +++++++++++----
 1 file changed, 11 insertions(+), 4 deletions(-)

(limited to 'apps/mavlink')

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index ea1c511f9..117387f36 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -75,7 +75,9 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
+
 #include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
 
 #include "waypoints.h"
 #include "mavlink_log.h"
@@ -203,7 +205,7 @@ int mavlink_missionlib_send_gcs_string(const char *string);
 uint64_t mavlink_missionlib_get_system_timestamp(void);
 
 void handleMessage(mavlink_message_t *msg);
-static void mavlink_update_system();
+static void mavlink_update_system(void);
 
 /**
  * Enable / disable Hardware in the Loop simulation mode.
@@ -1549,9 +1551,9 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	return uart;
 }
 
-void mavlink_update_system()
+void mavlink_update_system(void)
 {
-	static initialized = false;
+	static bool initialized = false;
 	param_t param_system_id;
 	param_t param_component_id;
 	param_t param_system_type;
@@ -1866,7 +1868,12 @@ int mavlink_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		mavlink_task = task_create("mavlink", SCHED_PRIORITY_DEFAULT, 6000, mavlink_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
+		mavlink_task = task_spawn("mavlink",
+					  SCHED_RR,
+					  SCHED_PRIORITY_DEFAULT,
+					  6000,
+					  mavlink_thread_main,
+					  (argv) ? (const char **)&argv[2] : (const char **)NULL);
 		exit(0);
 	}
 
-- 
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