From d8cc38728ddbc0e3ac38a4a175f8e06971be62b2 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 9 Jul 2017 19:21:13 +0200 Subject: [PATCH] Multicopter attitude controller: Run at maximum priority. This allows for a quicker update from sensors if the estimator runs at the default priority of the estimator class. If there is no direct sensor pass-through then it will wait for an estimator update. --- src/modules/mc_att_control/mc_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 53e3fb8a2d..68e3ffe2bf 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -1362,7 +1362,7 @@ MulticopterAttitudeControl::start() /* start the task */ _control_task = px4_task_spawn_cmd("mc_att_control", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, + SCHED_PRIORITY_MAX - 4, 1700, (px4_main_t)&MulticopterAttitudeControl::task_main_trampoline, nullptr);