From 8dd96e960d8cff9ec8cfe56812b53c6a6c71f553 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 9 Jul 2017 19:19:47 +0200 Subject: [PATCH] Fixed wing attitude controller: Run at maximum priority. This ensures attitude control runs first before any other system component. --- src/modules/fw_att_control/fw_att_control_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index de970b85e6..000d2a2cbc 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -1275,7 +1275,7 @@ FixedwingAttitudeControl::start() /* start the task */ _control_task = px4_task_spawn_cmd("fw_att_control", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 5, + SCHED_PRIORITY_MAX - 4, 1500, (px4_main_t)&FixedwingAttitudeControl::task_main_trampoline, nullptr);