Use OS independent API for task creation/deletion

Calls to task_delete and task_spawn_cmd are now
px4_task_delete and px4_task_spawn_cmd respectively.

The px4_tasks.h header was added to the affected files
and incusions of nuttx/config.h were removed.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/drivers/gps/gps.cpp

@@ -51,7 +51,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <nuttx/arch.h>
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
@@ -213,7 +213,7 @@ GPS::~GPS()
 
 	/* well, kill it anyway, though this will probably crash */
 	if (_task != -1)
-		task_delete(_task);
+		px4_task_delete(_task);
 
 	g_dev = nullptr;
 
@@ -229,7 +229,7 @@ GPS::init()
 		goto out;
 
 	/* start the GPS driver worker task */
-	_task = task_spawn_cmd("gps", SCHED_DEFAULT,
+	_task = px4_task_spawn_cmd("gps", SCHED_DEFAULT,
 				SCHED_PRIORITY_SLOW_DRIVER, 1500, (main_t)&GPS::task_main_trampoline, nullptr);
 
 	if (_task < 0) {

src/drivers/hil/hil.cpp

@@ -48,7 +48,7 @@
  * driver. Use instead the normal FMU or IO driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -188,7 +188,7 @@ HIL::~HIL()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -228,7 +228,7 @@ HIL::init()
 	// gpio_reset();
 
 	/* start the HIL interface task */
-	_task = task_spawn_cmd("fmuhil",
+	_task = px4_task_spawn_cmd("fmuhil",
 			   SCHED_DEFAULT,
 			   SCHED_PRIORITY_DEFAULT,
 			   1200,

src/drivers/hott/hott_sensors/hott_sensors.cpp

@@ -42,7 +42,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -209,7 +209,7 @@ hott_sensors_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     1024,

src/drivers/hott/hott_telemetry/hott_telemetry.cpp

@@ -44,7 +44,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -235,7 +235,7 @@ hott_telemetry_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd(daemon_name,
+		deamon_task = px4_task_spawn_cmd(daemon_name,
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT,
 					 2048,

src/drivers/md25/md25_main.cpp

@@ -44,7 +44,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -110,7 +110,7 @@ int md25_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("md25",
+		deamon_task = px4_task_spawn_cmd("md25",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,

src/drivers/mkblctrl/mkblctrl.cpp

@@ -41,7 +41,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <drivers/device/i2c.h>
 #include <systemlib/param/param.h>
 
@@ -258,7 +258,7 @@ MK::~MK()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -302,7 +302,7 @@ MK::init(unsigned motors)
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("mkblctrl",
+	_task = px4_task_spawn_cmd("mkblctrl",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_MAX - 20,
 			       1500,

src/drivers/px4fmu/fmu.cpp

@@ -37,7 +37,7 @@
  * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -302,7 +302,7 @@ PX4FMU::~PX4FMU()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -341,7 +341,7 @@ PX4FMU::init()
 	gpio_reset();
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("fmuservo",
+	_task = px4_task_spawn_cmd("fmuservo",
 			       SCHED_DEFAULT,
 			       SCHED_PRIORITY_DEFAULT,
 			       1600,

src/drivers/px4io/px4io.cpp

@@ -38,7 +38,7 @@
  * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -550,7 +550,7 @@ PX4IO::~PX4IO()
 
 	/* well, kill it anyway, though this will probably crash */
 	if (_task != -1)
-		task_delete(_task);
+		px4_task_delete(_task);
 
 	if (_interface != nullptr)
 		delete _interface;
@@ -841,7 +841,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_spawn_cmd("px4io",
+	_task = px4_task_spawn_cmd("px4io",
 					SCHED_DEFAULT,
 					SCHED_PRIORITY_ACTUATOR_OUTPUTS,
 					1800,

src/drivers/roboclaw/roboclaw_main.cpp

@@ -43,7 +43,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -105,7 +105,7 @@ int roboclaw_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("roboclaw",
+		deamon_task = px4_task_spawn_cmd("roboclaw",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 2048,

src/examples/publisher/publisher_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,12 +69,12 @@ int publisher_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("publisher",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     2000,
-					     main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+		daemon_task = px4_task_spawn_cmd("publisher",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       main,
+					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
 		exit(0);
 	}

src/examples/rover_steering_control/main.cpp

@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -408,7 +408,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_task_spawn_cmd().
  */
 int rover_steering_control_main(int argc, char *argv[])
 {
@@ -425,7 +425,7 @@ int rover_steering_control_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		deamon_task = task_spawn_cmd("rover_steering_control",
+		deamon_task = px4_task_spawn_cmd("rover_steering_control",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 20,
 					     2048,

src/examples/subscriber/subscriber_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,12 +69,12 @@ int subscriber_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("subscriber",
-					     SCHED_DEFAULT,
-					     SCHED_PRIORITY_MAX - 5,
-					     2000,
-					     main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+		daemon_task = px4_task_spawn_cmd("subscriber",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       main,
+					(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
 
 		exit(0);
 	}

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp

@@ -41,7 +41,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
@@ -114,7 +114,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_task_spawn_cmd().
  */
 int attitude_estimator_ekf_main(int argc, char *argv[])
 {
@@ -131,7 +131,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf",
+		attitude_estimator_ekf_task = px4_task_spawn_cmd("attitude_estimator_ekf",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
 					      7700,

src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp

@@ -50,7 +50,7 @@
  *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
@@ -132,7 +132,7 @@ usage(const char *reason)
  * Makefile does only apply to this management task.
  *
  * The actual stack size should be set in the call
- * to task_spawn_cmd().
+ * to px4_task_spawn_cmd().
  */
 int attitude_estimator_so3_main(int argc, char *argv[])
 {
@@ -149,7 +149,7 @@ int attitude_estimator_so3_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		attitude_estimator_so3_task = task_spawn_cmd("attitude_estimator_so3",
+		attitude_estimator_so3_task = px4_task_spawn_cmd("attitude_estimator_so3",
 					      SCHED_DEFAULT,
 					      SCHED_PRIORITY_MAX - 5,
 					      14000,

src/modules/bottle_drop/bottle_drop.cpp

@@ -40,7 +40,7 @@
  * @author Julian Oes <joes@student.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -210,7 +210,7 @@ BottleDrop::~BottleDrop()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_main_task);
+				px4_task_delete(_main_task);
 				break;
 			}
 		} while (_main_task != -1);
@@ -225,7 +225,7 @@ BottleDrop::start()
 	ASSERT(_main_task == -1);
 
 	/* start the task */
-	_main_task = task_spawn_cmd("bottle_drop",
+	_main_task = px4_task_spawn_cmd("bottle_drop",
 				    SCHED_DEFAULT,
 				    SCHED_PRIORITY_DEFAULT + 15,
 				    1500,

src/modules/commander/commander.cpp

@@ -42,7 +42,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <pthread.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -275,7 +275,7 @@ int commander_main(int argc, char *argv[])
 		}
 
 		thread_should_exit = false;
-		daemon_task = task_spawn_cmd("commander",
+		daemon_task = px4_task_spawn_cmd("commander",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_MAX - 40,
 					     3400,

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp

@@ -43,7 +43,7 @@
 #include "AttitudePositionEstimatorEKF.h"
 #include "estimator_22states.h"
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -281,7 +281,7 @@ AttitudePositionEstimatorEKF::~AttitudePositionEstimatorEKF()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_estimator_task);
+				px4_task_delete(_estimator_task);
 				break;
 			}
 		} while (_estimator_task != -1);
@@ -1035,7 +1035,7 @@ int AttitudePositionEstimatorEKF::start()
 	ASSERT(_estimator_task == -1);
 
 	/* start the task */
-	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
+	_estimator_task = px4_task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
 					 7500,

src/modules/fixedwing_backside/fixedwing_backside_main.cpp

@@ -39,7 +39,7 @@
  * Fixedwing backside controller using control library
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -111,7 +111,7 @@ int fixedwing_backside_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 
-		deamon_task = task_spawn_cmd("fixedwing_backside",
+		deamon_task = px4_task_spawn_cmd("fixedwing_backside",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,

src/modules/fw_att_control/fw_att_control_main.cpp

@@ -41,7 +41,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -424,7 +424,7 @@ FixedwingAttitudeControl::~FixedwingAttitudeControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -1117,7 +1117,7 @@ FixedwingAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("fw_att_control",
+	_control_task = px4_task_spawn_cmd("fw_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -51,7 +51,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -542,7 +542,7 @@ FixedwingPositionControl::~FixedwingPositionControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -1621,7 +1621,7 @@ FixedwingPositionControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("fw_pos_control_l1",
+	_control_task = px4_task_spawn_cmd("fw_pos_control_l1",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/land_detector/land_detector_main.cpp

@@ -38,6 +38,7 @@
  * @author Johan Jansen <jnsn.johan@gmail.com>
  */
 
+#include <px4_tasks.h>					//usleep
 #include <unistd.h>					//usleep
 #include <stdio.h>
 #include <string.h>
@@ -95,7 +96,7 @@ static void land_detector_stop()
 
 		/* if we have given up, kill it */
 		if (++i > 50) {
-			task_delete(_landDetectorTaskID);
+			px4_task_delete(_landDetectorTaskID);
 			break;
 		}
 	} while (land_detector_task->isRunning());
@@ -136,7 +137,7 @@ static int land_detector_start(const char *mode)
 	}
 
 	//Start new thread task
-	_landDetectorTaskID = task_spawn_cmd("land_detector",
+	_landDetectorTaskID = px4_task_spawn_cmd("land_detector",
 					     SCHED_DEFAULT,
 					     SCHED_PRIORITY_DEFAULT,
 					     1000,

src/modules/mavlink/mavlink_main.cpp

@@ -39,7 +39,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -242,7 +242,7 @@ Mavlink::~Mavlink()
 			/* if we have given up, kill it */
 			if (++i > 50) {
 				//TODO store main task handle in Mavlink instance to allow killing task
-				//task_delete(_mavlink_task);
+				//px4_task_delete(_mavlink_task);
 				break;
 			}
 		} while (_task_running);
@@ -1618,7 +1618,7 @@ Mavlink::start(int argc, char *argv[])
 	// between the starting task and the spawned
 	// task - start_helper() only returns
 	// when the started task exits.
-	task_spawn_cmd(buf,
+	px4_task_spawn_cmd(buf,
 		       SCHED_DEFAULT,
 		       SCHED_PRIORITY_DEFAULT,
 		       2400,

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -53,7 +53,7 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -404,7 +404,7 @@ MulticopterAttitudeControl::~MulticopterAttitudeControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -905,7 +905,7 @@ MulticopterAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("mc_att_control",
+	_control_task = px4_task_spawn_cmd("mc_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/mc_att_control_multiplatform/mc_att_control_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,7 +69,7 @@ int mc_att_control_m_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("mc_att_control_m",
+		daemon_task = px4_task_spawn_cmd("mc_att_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1900,

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -50,6 +50,7 @@
  */
 
 #include <px4.h>
+#include <px4_tasks.h>
 #include <functional>
 #include <cstdio>
 #include <stdlib.h>
@@ -384,7 +385,7 @@ MulticopterPositionControl::~MulticopterPositionControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -1423,7 +1424,7 @@ MulticopterPositionControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("mc_pos_control",
+	_control_task = px4_task_spawn_cmd("mc_pos_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1600,

src/modules/mc_pos_control_multiplatform/mc_pos_control_start_nuttx.cpp

@@ -36,6 +36,7 @@
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
+#include <px4_tasks.h>
 #include <string.h>
 #include <cstdlib>
 #include <systemlib/err.h>
@@ -68,7 +69,7 @@ int mc_pos_control_m_main(int argc, char *argv[])
 
 		task_should_exit = false;
 
-		daemon_task = task_spawn_cmd("mc_pos_control_m",
+		daemon_task = px4_task_spawn_cmd("mc_pos_control_m",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2500,

src/modules/navigator/navigator_main.cpp

@@ -43,7 +43,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <stdio.h>
 #include <stdlib.h>
@@ -174,7 +174,7 @@ Navigator::~Navigator()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_navigator_task);
+				px4_task_delete(_navigator_task);
 				break;
 			}
 		} while (_navigator_task != -1);
@@ -515,7 +515,7 @@ Navigator::start()
 	ASSERT(_navigator_task == -1);
 
 	/* start the task */
-	_navigator_task = task_spawn_cmd("navigator",
+	_navigator_task = px4_task_spawn_cmd("navigator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_DEFAULT + 20,
 					 1800,

src/modules/segway/segway_main.cpp

@@ -39,7 +39,7 @@
  * Segway controller using control library
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -106,7 +106,7 @@ int segway_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 
-		deamon_task = task_spawn_cmd("segway",
+		deamon_task = px4_task_spawn_cmd("segway",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 10,
 					 5120,

src/modules/sensors/sensors.cpp

@@ -46,7 +46,7 @@
  * @author Anton Babushkin <anton@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <fcntl.h>
 #include <poll.h>
@@ -640,7 +640,7 @@ Sensors::~Sensors()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_sensors_task);
+				px4_task_delete(_sensors_task);
 				break;
 			}
 		} while (_sensors_task != -1);
@@ -2235,7 +2235,7 @@ Sensors::start()
 	ASSERT(_sensors_task == -1);
 
 	/* start the task */
-	_sensors_task = task_spawn_cmd("sensors_task",
+	_sensors_task = px4_task_spawn_cmd("sensors_task",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       2000,

src/modules/uORB/uORB.cpp

@@ -36,7 +36,7 @@
  * A lightweight object broker.
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <drivers/device/device.h>
 
@@ -965,7 +965,7 @@ latency_test(orb_id_t T, bool print)
 
 	/* test pub / sub latency */
 
-	int pubsub_task = task_spawn_cmd("uorb_latency",
+	int pubsub_task = px4_task_spawn_cmd("uorb_latency",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 5,
 				       1500,

src/modules/uavcan/uavcan_main.cpp

@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 
 #include <cstdlib>
 #include <cstring>
@@ -109,7 +109,7 @@ UavcanNode::~UavcanNode()
 
 			/* if we have given up, kill it */
 			if (--i == 0) {
-				task_delete(_task);
+				px4_task_delete(_task);
 				break;
 			}
 
@@ -194,7 +194,7 @@ 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_ACTUATOR_OUTPUTS, StackSize,
+	_instance->_task = px4_task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
 			      static_cast<main_t>(run_trampoline), nullptr);
 
 	if (_instance->_task < 0) {

src/modules/vtol_att_control/vtol_att_control_main.cpp

@@ -44,7 +44,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -298,7 +298,7 @@ VtolAttitudeControl::~VtolAttitudeControl()
 
 			/* if we have given up, kill it */
 			if (++i > 50) {
-				task_delete(_control_task);
+				px4_task_delete(_control_task);
 				break;
 			}
 		} while (_control_task != -1);
@@ -859,7 +859,7 @@ VtolAttitudeControl::start()
 	ASSERT(_control_task == -1);
 
 	/* start the task */
-	_control_task = task_spawn_cmd("vtol_att_control",
+	_control_task = px4_task_spawn_cmd("vtol_att_control",
 				       SCHED_DEFAULT,
 				       SCHED_PRIORITY_MAX - 10,
 				       2048,