ESC command transfer priority assigned a high value. This change is not directly related to the current PR, but this change seems minor enough to be pulled in with it.

src/modules/uavcan/actuators/esc.cpp

@@ -49,6 +49,8 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
 	_uavcan_sub_status(node),
 	_orb_timer(node)
 {
+	_uavcan_pub_raw_cmd.setPriority(UAVCAN_COMMAND_TRANSFER_PRIORITY);
+
 	if (_perfcnt_invalid_input == nullptr) {
 		errx(1, "uavcan: couldn't allocate _perfcnt_invalid_input");
 	}

src/modules/uavcan/actuators/esc.hpp

@@ -78,6 +78,7 @@ private:
 
 	static constexpr unsigned MAX_RATE_HZ = 200;			///< XXX make this configurable
 	static constexpr unsigned ESC_STATUS_UPDATE_RATE_HZ = 10;
+	static constexpr unsigned UAVCAN_COMMAND_TRANSFER_PRIORITY = 5;	///< 0..31, inclusive, 0 - highest, 31 - lowest
 
 	typedef uavcan::MethodBinder<UavcanEscController *,
 		void (UavcanEscController::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status>&)>