From a1ef1a93185009740f31fe5e7222a4d53bbc8090 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sun, 29 Sep 2013 10:16:07 +1000
Subject: [PATCH] HAL_Linux: tweak the scheduling priorities

---
 libraries/AP_HAL_Linux/Scheduler.cpp | 10 ++++++++++
 libraries/AP_HAL_Linux/Scheduler.h   |  5 -----
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 60a52c375e..6568d0f438 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -15,6 +15,11 @@ using namespace Linux;
 
 extern const AP_HAL::HAL& hal;
 
+#define APM_LINUX_MAIN_PRIORITY    180
+#define APM_LINUX_TIMER_PRIORITY   182
+#define APM_LINUX_UART_PRIORITY    181
+#define APM_LINUX_IO_PRIORITY       59
+
 LinuxScheduler::LinuxScheduler()
 {}
 
@@ -27,6 +32,11 @@ void LinuxScheduler::init(void* machtnichts)
     pthread_attr_t thread_attr;
     struct sched_param param;
 
+    memset(&param, 0, sizeof(param));
+
+    param.sched_priority = APM_LINUX_MAIN_PRIORITY;
+    sched_setscheduler(0, SCHED_FIFO, &param);
+
     param.sched_priority = APM_LINUX_TIMER_PRIORITY;
     pthread_attr_init(&thread_attr);
     (void)pthread_attr_setschedparam(&thread_attr, &param);
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index 20e58c1252..39e71e84b1 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -10,11 +10,6 @@
 
 #define LINUX_SCHEDULER_MAX_TIMER_PROCS 10
 
-#define APM_LINUX_MAIN_PRIORITY    180
-#define APM_LINUX_TIMER_PRIORITY   181
-#define APM_LINUX_UART_PRIORITY     60
-#define APM_LINUX_IO_PRIORITY       59
-
 class Linux::LinuxScheduler : public AP_HAL::Scheduler {
 public:
     LinuxScheduler();