#include <AP_HAL_SMACCM.h> #include <AP_HAL_SMACCM_Main.h> #include <FreeRTOS.h> #include <task.h> static xTaskHandle g_main_task; // These must be defined in the main ".pde" file. extern const AP_HAL::HAL& hal; extern void setup(); extern void loop(); static void main_task(void *arg) { hal.init(0, NULL); setup(); for (;;) loop(); } void SMACCM::hal_main() { xTaskCreate(main_task, (signed char *)"main", 1024, NULL, 0, &g_main_task); vTaskStartScheduler(); for (;;) ; }