diff --git a/src/modules/systemlib/scheduling_priorities.h b/src/modules/systemlib/scheduling_priorities.h
index b80dfc1a92..56e6dd9190 100644
--- a/src/modules/systemlib/scheduling_priorities.h
+++ b/src/modules/systemlib/scheduling_priorities.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,13 +36,17 @@
 #include <px4_tasks.h>
 
 /*      SCHED_PRIORITY_MAX    */
-#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
-#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
-#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
-#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
-#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
-#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+#define SCHED_PRIORITY_FAST_DRIVER		(SCHED_PRIORITY_MAX - 0)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL		(SCHED_PRIORITY_MAX - 4)
+#define SCHED_PRIORITY_POSITION_CONTROL		(SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ESTIMATOR		(SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_SENSOR_HUB		(SCHED_PRIORITY_MAX - 6)
+#define SCHED_PRIORITY_LOG_CAPTURE		(SCHED_PRIORITY_MAX - 10)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS		(SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_POSITION_CONTROL		(SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER		(SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
 /*      SCHED_PRIORITY_DEFAULT    */
-#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
-#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
 /*      SCHED_PRIORITY_IDLE    */