From aecfbef128d72066580d904607ce4ca45b7d0804 Mon Sep 17 00:00:00 2001
From: Charles Cross <charles@missionrobotics.us>
Date: Tue, 22 Feb 2022 12:52:17 -0800
Subject: [PATCH] Enables 20Hz backup scheduling for ControlAllocator

---
 src/modules/control_allocator/ControlAllocator.cpp | 5 ++++-
 src/modules/control_allocator/ControlAllocator.hpp | 2 +-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 07c9a9f5a3..1f0769b196 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -51,7 +51,7 @@ using namespace time_literals;
 
 ControlAllocator::ControlAllocator() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	for (int i = 0; i < MAX_NUM_MOTORS; ++i) {
@@ -285,6 +285,9 @@ ControlAllocator::Run()
 
 	perf_begin(_loop_perf);
 
+	// Push backup schedule
+	ScheduleDelayed(50_ms);
+
 	// Check if parameters have changed
 	if (_parameter_update_sub.updated() && !_armed) {
 		// clear update
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index f1ea6888dc..033a43156b 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -74,7 +74,7 @@
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
 
-class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::WorkItem
+class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 	static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;