From 09a9ea87e77d2627b20bd6893a39627f57421f4d Mon Sep 17 00:00:00 2001
From: Holger Steinhaus <holger@steinhaus-home.de>
Date: Fri, 15 Aug 2014 14:22:41 +0200
Subject: [PATCH] uavcan: increased thread prio, reduces roundtrip latency by a
 factor of 5..7

---
 src/modules/uavcan/uavcan_main.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 4535b6d6ad..f4d3cc77ba 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -40,6 +40,7 @@
 #include <systemlib/systemlib.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>
@@ -164,7 +165,7 @@ 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) {