Move scheduling priorities into px4_tasks to simplify header usage

src/drivers/gps/gps.cpp

@@ -65,12 +65,12 @@
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_module.h>
+#include <px4_tasks.h>
 #include <px4_time.h>
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
 #include <systemlib/systemlib.h>
-#include <systemlib/scheduling_priorities.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>
 #include <drivers/drv_gps.h>

src/modules/systemlib/scheduling_priorities.h

@@ -1,91 +0,0 @@
-/****************************************************************************
- *
- *   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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <px4_tasks.h>
-
-/**
- * @file scheduling_priorities.h
- *
- * Default schedulign priorities for standard system components
- */
-
-//      SCHED_PRIORITY_MAX
-
-// Fast drivers - they need to run as quickly as possible to minimize control
-// latency.
-#define SCHED_PRIORITY_FAST_DRIVER		(SCHED_PRIORITY_MAX - 0)
-
-// Attitude controllers typically are in a blocking wait on driver data
-// they should be the first to run on an update, using the current sensor
-// data and the *previous* attitude reference from the position controller
-// which typically runs at a slower rate
-#define SCHED_PRIORITY_ATTITUDE_CONTROL		(SCHED_PRIORITY_MAX - 4)
-
-// Actuator outputs should run before right after the attitude controller
-// updated
-#define SCHED_PRIORITY_ACTUATOR_OUTPUTS		(SCHED_PRIORITY_MAX - 4)
-
-// Position controllers typically are in a blocking wait on estimator data
-// so when new sensor data is available they will run last. Keeping them
-// on a high priority ensures that they are the first process to be run
-// when the estimator updates.
-#define SCHED_PRIORITY_POSITION_CONTROL		(SCHED_PRIORITY_MAX - 5)
-
-// Estimators should run after the attitude controller but before anything
-// else in the system. They wait on sensor data which is either coming
-// from the sensor hub or from a driver. Keeping this class at a higher
-// priority ensures that the estimator runs first if it can, but will
-// wait for the sensor hub if its data is coming from it.
-#define SCHED_PRIORITY_ESTIMATOR		(SCHED_PRIORITY_MAX - 5)
-
-// The sensor hub conditions sensor data. It is not the fastest component
-// in the controller chain, but provides easy-to-use data to the more
-// complex downstream consumers
-#define SCHED_PRIORITY_SENSOR_HUB		(SCHED_PRIORITY_MAX - 6)
-
-// The log capture (which stores log data into RAM) should run faster
-// than other components, but should not run before the control pipeline
-#define SCHED_PRIORITY_LOG_CAPTURE		(SCHED_PRIORITY_MAX - 10)
-
-// Slow drivers should run at a rate where they do not impact the overall
-// system execution
-#define SCHED_PRIORITY_SLOW_DRIVER		(SCHED_PRIORITY_MAX - 35)
-
-// The navigation system needs to execute regularly but has no realtime needs
-#define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
-//      SCHED_PRIORITY_DEFAULT
-#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
-#define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
-/*      SCHED_PRIORITY_IDLE    */

src/platforms/px4_tasks.h

@@ -1,8 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
- *   Author: Lorenz Meier <lm@inf.ethz.ch>
- *   Author: Mark Charlebois <charlebm@gmail.com> 2015
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,6 +33,10 @@
 
 /**
  * @file px4_tasks.h
+ *
+ * @author Lorenz Meier <lorenz@px4.io>
+ * @author Mark Charlebois (2015) <charlebm@gmail.com>
+ *
  * Preserve existing task API call signature with OS abstraction
  */
 
@@ -99,6 +101,53 @@ typedef struct {
 #error "No target OS defined"
 #endif
 
+// Fast drivers - they need to run as quickly as possible to minimize control
+// latency.
+#define SCHED_PRIORITY_FAST_DRIVER		(SCHED_PRIORITY_MAX - 0)
+
+// Attitude controllers typically are in a blocking wait on driver data
+// they should be the first to run on an update, using the current sensor
+// data and the *previous* attitude reference from the position controller
+// which typically runs at a slower rate
+#define SCHED_PRIORITY_ATTITUDE_CONTROL		(SCHED_PRIORITY_MAX - 4)
+
+// Actuator outputs should run before right after the attitude controller
+// updated
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS		(SCHED_PRIORITY_MAX - 4)
+
+// Position controllers typically are in a blocking wait on estimator data
+// so when new sensor data is available they will run last. Keeping them
+// on a high priority ensures that they are the first process to be run
+// when the estimator updates.
+#define SCHED_PRIORITY_POSITION_CONTROL		(SCHED_PRIORITY_MAX - 5)
+
+// Estimators should run after the attitude controller but before anything
+// else in the system. They wait on sensor data which is either coming
+// from the sensor hub or from a driver. Keeping this class at a higher
+// priority ensures that the estimator runs first if it can, but will
+// wait for the sensor hub if its data is coming from it.
+#define SCHED_PRIORITY_ESTIMATOR		(SCHED_PRIORITY_MAX - 5)
+
+// The sensor hub conditions sensor data. It is not the fastest component
+// in the controller chain, but provides easy-to-use data to the more
+// complex downstream consumers
+#define SCHED_PRIORITY_SENSOR_HUB		(SCHED_PRIORITY_MAX - 6)
+
+// The log capture (which stores log data into RAM) should run faster
+// than other components, but should not run before the control pipeline
+#define SCHED_PRIORITY_LOG_CAPTURE		(SCHED_PRIORITY_MAX - 10)
+
+// Slow drivers should run at a rate where they do not impact the overall
+// system execution
+#define SCHED_PRIORITY_SLOW_DRIVER		(SCHED_PRIORITY_MAX - 35)
+
+// The navigation system needs to execute regularly but has no realtime needs
+#define SCHED_PRIORITY_NAVIGATION		(SCHED_PRIORITY_DEFAULT + 5)
+//      SCHED_PRIORITY_DEFAULT
+#define SCHED_PRIORITY_LOG_WRITER		(SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS			(SCHED_PRIORITY_DEFAULT - 15)
+//      SCHED_PRIORITY_IDLE
+
 typedef int (*px4_main_t)(int argc, char *argv[]);
 
 __BEGIN_DECLS