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Add new 'task_spawn' interface for starting new tasks in the PX4 world

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This commit is contained in:
px4dev
2012-10-01 00:02:38 -07:00
parent 6005077d54
commit 93c200d281
14 changed files with 130 additions and 24 deletions
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apps/ardrone_interface/ardrone_interface.c
+8 -1
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@@ -56,6 +56,8 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <systemlib/systemlib.h>
#include "ardrone_motor_control.h"
__EXPORT int ardrone_interface_main(int argc, char *argv[]);
@@ -112,7 +114,12 @@ int ardrone_interface_main(int argc, char *argv[])
}
thread_should_exit = false;
ardrone_interface_task = task_create("ardrone_interface", SCHED_PRIORITY_MAX - 15, 4096, ardrone_interface_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
ardrone_interface_task = task_spawn("ardrone_interface",
SCHED_RR,
SCHED_PRIORITY_MAX - 15,
4096,
ardrone_interface_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
exit(0);
}