SYS_FMU_TASK: add param to start fmu as task (default=work queue)

src/modules/systemlib/system_params.c

@@ -72,10 +72,27 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
  * @boolean
  * @min 0
  * @max 1
+ * @reboot_required true
  * @group System
  */
 PARAM_DEFINE_INT32(SYS_USE_IO, 1);
 
+/**
+ * Run the FMU as a task to reduce latency
+ *
+ * If true, the FMU will run in a separate task instead of on the work queue.
+ * Set this if low latency is required, for example for racing.
+ *
+ * This is a trade-off between RAM usage and latency: running as a task, it
+ * requires a separate stack and directly polls on the control topics, whereas
+ * running on the work queue, it runs at a fixed update rate.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group System
+ */
+PARAM_DEFINE_INT32(SYS_FMU_TASK, 0);
+
 /**
  * Set restart type
  *