Added header for common priority bands

apps/drivers/px4io/px4io.cpp

@@ -70,6 +70,7 @@
 #include <systemlib/hx_stream.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
+#include <systemlib/scheduling_priorities.h>
 
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_controls_effective.h>
@@ -255,7 +256,7 @@ PX4IO::init()
 	}
 
 	/* start the IO interface task */
-	_task = task_create("px4io", SCHED_PRIORITY_DEFAULT, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
+	_task = task_create("px4io", SCHED_PRIORITY_ACTUATOR_OUTPUTS, 4096, (main_t)&PX4IO::task_main_trampoline, nullptr);
 	if (_task < 0) {
 		debug("task start failed: %d", errno);
 		return -errno;

apps/systemlib/scheduling_priorities.h

@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <nuttx/sched.h>
+
+/*      SCHED_PRIORITY_MAX    */
+#define SCHED_PRIORITY_FAST_DRIVER           SCHED_PRIORITY_MAX
+#define SCHED_PRIORITY_WATCHDOG             (SCHED_PRIORITY_MAX - 5)
+#define SCHED_PRIORITY_ACTUATOR_OUTPUTS     (SCHED_PRIORITY_MAX - 15)
+#define SCHED_PRIORITY_ATTITUDE_CONTROL     (SCHED_PRIORITY_MAX - 25)
+#define SCHED_PRIORITY_SLOW_DRIVER          (SCHED_PRIORITY_MAX - 35)
+#define SCHED_PRIORITY_POSITION_CONTROL     (SCHED_PRIORITY_MAX - 40)
+/*      SCHED_PRIORITY_DEFAULT    */
+#define SCHED_PRIORITY_LOGGING              (SCHED_PRIORITY_DEFAULT - 10)
+#define SCHED_PRIORITY_PARAMS               (SCHED_PRIORITY_DEFAULT - 15)
+/*      SCHED_PRIORITY_IDLE    */