diff --git a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c index cc56018d6..0546b8d23 100644 --- a/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c +++ b/flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c @@ -55,7 +55,7 @@ // Private constants #define STACK_SIZE configMINIMAL_STACK_SIZE-128 -#define TASK_PRIORITY (tskIDLE_PRIORITY+1) +#define TASK_PRIORITY (tskIDLE_PRIORITY+4) // Private types diff --git a/flight/OpenPilot/Modules/Altitude/altitude.c b/flight/OpenPilot/Modules/Altitude/altitude.c index 2f9bd78e5..269003f6c 100644 --- a/flight/OpenPilot/Modules/Altitude/altitude.c +++ b/flight/OpenPilot/Modules/Altitude/altitude.c @@ -41,7 +41,7 @@ // Private constants #define STACK_SIZE_BYTES 500 -#define TASK_PRIORITY (tskIDLE_PRIORITY+3) +#define TASK_PRIORITY (tskIDLE_PRIORITY+1) //#define UPDATE_PERIOD 100 #define UPDATE_PERIOD 25 diff --git a/flight/OpenPilot/Modules/Battery/battery.c b/flight/OpenPilot/Modules/Battery/battery.c index c6d9052a6..d0e41cdbc 100644 --- a/flight/OpenPilot/Modules/Battery/battery.c +++ b/flight/OpenPilot/Modules/Battery/battery.c @@ -55,7 +55,7 @@ // #define DEBUG_PORT PIOS_COM_TELEM_RF #define STACK_SIZE 1024 -#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) #define SAMPLE_PERIOD_MS 500 #define POWER_SENSOR_VERSION 1 diff --git a/flight/OpenPilot/Modules/GPS/GPS.c b/flight/OpenPilot/Modules/GPS/GPS.c index 5e98339d4..b3d4ef896 100644 --- a/flight/OpenPilot/Modules/GPS/GPS.c +++ b/flight/OpenPilot/Modules/GPS/GPS.c @@ -53,7 +53,7 @@ static void setHomeLocation(GPSPositionData * gpsData); // Private constants // Unfortunately need a good size stack for the WMM calculation #define STACK_SIZE_BYTES 1024 -#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) // Private types diff --git a/flight/OpenPilot/Modules/Guidance/guidance.c b/flight/OpenPilot/Modules/Guidance/guidance.c index 4c4848411..f99dac975 100644 --- a/flight/OpenPilot/Modules/Guidance/guidance.c +++ b/flight/OpenPilot/Modules/Guidance/guidance.c @@ -58,7 +58,7 @@ // Private constants #define STACK_SIZE_BYTES 824 -#define TASK_PRIORITY (tskIDLE_PRIORITY+1) +#define TASK_PRIORITY (tskIDLE_PRIORITY+2) // Private types // Private variables diff --git a/flight/OpenPilot/Modules/System/systemmod.c b/flight/OpenPilot/Modules/System/systemmod.c index d879e4f84..0249b4503 100644 --- a/flight/OpenPilot/Modules/System/systemmod.c +++ b/flight/OpenPilot/Modules/System/systemmod.c @@ -53,7 +53,7 @@ // must be updated if the FreeRTOS or compiler // optimisation options are changed. #define STACK_SIZE_BYTES 924 -#define TASK_PRIORITY (tskIDLE_PRIORITY+3) +#define TASK_PRIORITY (tskIDLE_PRIORITY+2) #define HEAP_LIMIT_WARNING 4000 #define HEAP_LIMIT_CRITICAL 1000