From 597ac4db2a3d77c964e4e608d1e13ed67f5a6d25 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 2 Feb 2014 14:09:50 +0100 Subject: [PATCH 1/2] OP-1195 increase priority for pios radio link driver task --- flight/pios/common/pios_rfm22b.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/pios/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c index c9ea2bd35..93bef7c5c 100644 --- a/flight/pios/common/pios_rfm22b.c +++ b/flight/pios/common/pios_rfm22b.c @@ -64,7 +64,7 @@ /* Local Defines */ #define STACK_SIZE_BYTES 200 -#define TASK_PRIORITY (tskIDLE_PRIORITY + 2) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // flight control relevant device driver (ppm link) #define ISR_TIMEOUT 1 // ms #define EVENT_QUEUE_SIZE 5 #define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600 From 8b25ac189405265904294b8037201e135450c15f Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Sun, 2 Feb 2014 14:13:25 +0100 Subject: [PATCH 2/2] OP-1195 adapted task priorities for manualcontrol and stabilization --- flight/modules/Actuator/actuator.c | 2 +- flight/modules/ManualControl/manualcontrol.c | 2 +- flight/modules/Stabilization/stabilization.c | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/flight/modules/Actuator/actuator.c b/flight/modules/Actuator/actuator.c index 7d92efdf2..782cc8ed1 100644 --- a/flight/modules/Actuator/actuator.c +++ b/flight/modules/Actuator/actuator.c @@ -55,7 +55,7 @@ #define STACK_SIZE_BYTES 1312 #endif -#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) // device driver #define FAILSAFE_TIMEOUT_MS 100 #define MAX_MIX_ACTUATORS ACTUATORCOMMAND_CHANNEL_NUMELEM diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c index 4ed56a1ad..ea1c41ff6 100644 --- a/flight/modules/ManualControl/manualcontrol.c +++ b/flight/modules/ManualControl/manualcontrol.c @@ -64,7 +64,7 @@ #define STACK_SIZE_BYTES 1152 #endif -#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // 3 = flight control #define UPDATE_PERIOD_MS 20 #define THROTTLE_FAILSAFE -0.1f #define ARMED_THRESHOLD 0.50f diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c index 65462ae0c..fa03330bb 100644 --- a/flight/modules/Stabilization/stabilization.c +++ b/flight/modules/Stabilization/stabilization.c @@ -73,7 +73,7 @@ #define STACK_SIZE_BYTES 840 #endif -#define TASK_PRIORITY (tskIDLE_PRIORITY + 4) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // FLIGHT CONTROL priority #define FAILSAFE_TIMEOUT_MS 30 // number of flight mode switch positions