From 04083cff3d9aee6a4178783a928969de1a370eab Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 7 Jun 2016 09:41:57 +0200
Subject: [PATCH] err: we need to use exit on NuttX

px4_task_exit doesn't seem to be available for NuttX, so it had no
effect and broke the init because the return values of the tasks were
wrong.
---
 src/modules/systemlib/err.h | 15 ++++++++++-----
 1 file changed, 10 insertions(+), 5 deletions(-)

diff --git a/src/modules/systemlib/err.h b/src/modules/systemlib/err.h
index d8f08fb4d5..76f59a8e1c 100644
--- a/src/modules/systemlib/err.h
+++ b/src/modules/systemlib/err.h
@@ -66,6 +66,7 @@
 #define _SYSTEMLIB_ERR_H
 
 #include <px4_log.h>
+#include <px4_tasks.h>
 #include <stdarg.h>
 #include <errno.h>
 #include "visibility.h"
@@ -75,18 +76,22 @@ __BEGIN_DECLS
 __EXPORT const char *getprogname(void);
 
 
-#include <errno.h>
-#include <px4_tasks.h>
+#ifdef __PX4_NUTTX
+#define EXIT(eval) exit(eval)
+#else
+#define EXIT(eval) px4_task_exit(eval)
+#endif
+
 
 #define err(eval, ...)		do { \
 		PX4_ERR(__VA_ARGS__); \
 		PX4_ERR("Task exited with errno=%i\n", errno); \
-		px4_task_exit(eval); } \
-	while(0)
+		EXIT(eval); \
+	} while(0)
 
 #define errx(eval, ...)		do { \
 		PX4_ERR(__VA_ARGS__); \
-		px4_task_exit(eval); \
+		EXIT(eval); \
 	} while(0)
 
 #define warn(...) 		PX4_WARN(__VA_ARGS__)