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/px4/fmu/fmu.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

(limited to 'apps/px4')

diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index 48d338c99..eeef2f914 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -66,6 +66,8 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 
+#include <systemlib/systemlib.h>
+
 class FMUServo : public device::CDev
 {
 public:
@@ -169,7 +171,12 @@ FMUServo::init()
 		return ret;
 
 	/* start the IO interface task */
-	_task = task_create("fmuservo", SCHED_PRIORITY_DEFAULT, 1024, (main_t)&FMUServo::task_main_trampoline, nullptr);
+	_task = task_spawn("fmuservo",
+			   SCHED_RR,
+			   SCHED_PRIORITY_DEFAULT,
+			   1024,
+			   (main_t)&FMUServo::task_main_trampoline,
+			   nullptr);
 
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
-- 
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