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Merge pull request #1329 from hsteinhaus/uavcan_prio 

uavcan: increased thread prio, reduces roundtrip latency by a factor of ...
This commit is contained in:
Lorenz Meier 2014-08-27 13:40:25 +02:00
parent b928897ab5 09a9ea87e7
commit 62b98cc944
1 changed files with 2 additions and 1 deletions
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3
src/modules/uavcan/uavcan_main.cpp
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@ -41,6 +41,7 @@
#include <systemlib/param/param.h>
#include <systemlib/mixer/mixer.h>
#include <systemlib/board_serial.h>
#include <systemlib/scheduling_priorities.h>
#include <version/version.h>
#include <arch/board/board.h>
#include <arch/chip/chip.h>
@ -175,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
* Start the task. Normally it should never exit.
*/
static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
static_cast<main_t>(run_trampoline), nullptr);
if (_instance->_task < 0) {