Merge pull request #1329 from hsteinhaus/uavcan_prio

uavcan: increased thread prio, reduces roundtrip latency by a factor of ...

src/modules/uavcan/uavcan_main.cpp

@@ -41,6 +41,7 @@
 #include <systemlib/param/param.h>
 #include <systemlib/mixer/mixer.h>
 #include <systemlib/board_serial.h>
+#include <systemlib/scheduling_priorities.h>
 #include <version/version.h>
 #include <arch/board/board.h>
 #include <arch/chip/chip.h>
@@ -175,7 +176,7 @@ int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
 	 * Start the task. Normally it should never exit.
 	 */
 	static auto run_trampoline = [](int, char *[]) {return UavcanNode::_instance->run();};
-	_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, StackSize,
+	_instance->_task = task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_ACTUATOR_OUTPUTS, StackSize,
 			      static_cast<main_t>(run_trampoline), nullptr);
 
 	if (_instance->_task < 0) {