From cae4694d6a8a76d8423a89d4b0330ef88c05c26f Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Sun, 9 Jul 2017 21:38:37 +0200
Subject: [PATCH] EKF: Use estimator scheduling order

---
 src/modules/ekf2/ekf2_main.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 6e5fbfd2af..b2663c6b1d 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -1515,7 +1515,7 @@ int Ekf2::task_spawn(int argc, char *argv[])
 {
 	_task_id = px4_task_spawn_cmd("ekf2",
 				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX - 5,
+				      SCHED_PRIORITY_ESTIMATOR,
 				      5900,
 				      (px4_main_t)&run_trampoline,
 				      (char *const *)argv);