Increased priority of MAVLink receiver thread

apps/mavlink/mavlink.c

@@ -1,4 +1,4 @@
-/****************************************************************************
+ /****************************************************************************
  *
  *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
  *   Author: @author Lorenz Meier <lm@inf.ethz.ch>

apps/mavlink/mavlink_receiver.c

@@ -487,6 +487,11 @@ receive_start(int uart)
 {
 	pthread_attr_t receiveloop_attr;
 	pthread_attr_init(&receiveloop_attr);
+
+	struct sched_param param;
+  	param.sched_priority = SCHED_PRIORITY_MAX - 40;
+  	(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
+
 	pthread_attr_setstacksize(&receiveloop_attr, 2048);
 
 	pthread_t thread;

apps/multirotor_att_control/multirotor_attitude_control.c

@@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 			att->roll, att->rollspeed, deltaT)*1/10.0f;
 	/* control yaw rate */
 	//float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f;
-	rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body));
+	rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body));