From 067361e2d4959c3166729d51dc05bac69c91cbf0 Mon Sep 17 00:00:00 2001
From: Doug Weibel <deweibel@gmail.com>
Date: Wed, 3 Oct 2012 08:47:56 -0600
Subject: [PATCH 1/2] Just a test commit. No content other than a test
comment.
---
apps/fixedwing_control/fixedwing_control.c | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index 81ec4ca0b0..470d963af3 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -31,7 +31,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
-
+// Workflow test comment - DEW
/**
* @file fixedwing_control.c
* Implementation of a fixed wing attitude and position controller.
From dfae108e6aff6e77eb05def50d99fb5c6d2c28c8 Mon Sep 17 00:00:00 2001
From: px4dev <px4@purgatory.org>
Date: Wed, 3 Oct 2012 23:13:20 -0700
Subject: [PATCH 2/2] Go back to the FIFO scheduler for now, as we don't have
time to shake out the RR scheduler changeover just yet.
Make the "default" scheduler a centralized definition so that changes are easier in future.
---
apps/ardrone_interface/ardrone_interface.c | 2 +-
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 2 +-
apps/commander/commander.c | 2 +-
apps/examples/px4_deamon_app/px4_deamon_app.c | 2 +-
apps/fixedwing_control/fixedwing_control.c | 2 +-
apps/gps/gps.c | 2 +-
apps/mavlink/mavlink.c | 2 +-
apps/multirotor_att_control/multirotor_att_control_main.c | 2 +-
apps/px4/fmu/fmu.cpp | 2 +-
apps/sdlog/sdlog.c | 4 ++--
apps/sensors/sensors.cpp | 2 +-
apps/systemcmds/led/led.c | 2 +-
apps/systemlib/systemlib.c | 3 +--
apps/systemlib/systemlib.h | 7 +++++++
nuttx/configs/px4fmu/nsh/defconfig | 2 +-
15 files changed, 22 insertions(+), 16 deletions(-)
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c
index 74b32c4afc..8d4a473b66 100644
--- a/apps/ardrone_interface/ardrone_interface.c
+++ b/apps/ardrone_interface/ardrone_interface.c
@@ -115,7 +115,7 @@ int ardrone_interface_main(int argc, char *argv[])
thread_should_exit = false;
ardrone_interface_task = task_spawn("ardrone_interface",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
ardrone_interface_thread_main,
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 41f469ae4e..d2e0efb560 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -159,7 +159,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
thread_should_exit = false;
attitude_estimator_ekf_task = task_spawn("attitude_estimator_ekf",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
20000,
attitude_estimator_ekf_thread_main,
diff --git a/apps/commander/commander.c b/apps/commander/commander.c
index 77e4da8501..16f74f43c9 100644
--- a/apps/commander/commander.c
+++ b/apps/commander/commander.c
@@ -950,7 +950,7 @@ int commander_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("commander",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
4096,
commander_thread_main,
diff --git a/apps/examples/px4_deamon_app/px4_deamon_app.c b/apps/examples/px4_deamon_app/px4_deamon_app.c
index 6068df5a31..6eb046d45e 100644
--- a/apps/examples/px4_deamon_app/px4_deamon_app.c
+++ b/apps/examples/px4_deamon_app/px4_deamon_app.c
@@ -92,7 +92,7 @@ int px4_deamon_app_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("deamon",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
px4_deamon_thread_main,
diff --git a/apps/fixedwing_control/fixedwing_control.c b/apps/fixedwing_control/fixedwing_control.c
index 470d963af3..ad08247e10 100644
--- a/apps/fixedwing_control/fixedwing_control.c
+++ b/apps/fixedwing_control/fixedwing_control.c
@@ -416,7 +416,7 @@ int fixedwing_control_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("fixedwing_control",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 20,
4096,
fixedwing_control_thread_main,
diff --git a/apps/gps/gps.c b/apps/gps/gps.c
index 8304c72e1b..b26b09f95f 100644
--- a/apps/gps/gps.c
+++ b/apps/gps/gps.c
@@ -143,7 +143,7 @@ int gps_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("gps",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
4096,
gps_thread_main,
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index b0cf01fd4d..cec2593c1f 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1872,7 +1872,7 @@ int mavlink_main(int argc, char *argv[])
thread_should_exit = false;
mavlink_task = task_spawn("mavlink",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
6000,
mavlink_thread_main,
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 72566a43c3..5e492268e3 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -353,7 +353,7 @@ int multirotor_att_control_main(int argc, char *argv[])
thread_should_exit = false;
mc_task = task_spawn("multirotor_att_control",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
mc_thread_main,
diff --git a/apps/px4/fmu/fmu.cpp b/apps/px4/fmu/fmu.cpp
index eeef2f9142..18f27d49ea 100644
--- a/apps/px4/fmu/fmu.cpp
+++ b/apps/px4/fmu/fmu.cpp
@@ -172,7 +172,7 @@ FMUServo::init()
/* start the IO interface task */
_task = task_spawn("fmuservo",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
1024,
(main_t)&FMUServo::task_main_trampoline,
diff --git a/apps/sdlog/sdlog.c b/apps/sdlog/sdlog.c
index 0426dfb9c0..22b8d82ee6 100644
--- a/apps/sdlog/sdlog.c
+++ b/apps/sdlog/sdlog.c
@@ -109,7 +109,7 @@ usage(const char *reason)
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
- * to task_create().
+ * to task_spawn().
*/
int sdlog_main(int argc, char *argv[])
{
@@ -126,7 +126,7 @@ int sdlog_main(int argc, char *argv[])
thread_should_exit = false;
deamon_task = task_spawn("sdlog",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT - 30,
4096,
sdlog_thread_main,
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp
index b9de42f763..7106edc6bc 100644
--- a/apps/sensors/sensors.cpp
+++ b/apps/sensors/sensors.cpp
@@ -1174,7 +1174,7 @@ Sensors::start()
/* start the task */
_sensors_task = task_spawn("sensors_task",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
6000, /* XXX may be excesssive */
(main_t)&Sensors::task_main_trampoline,
diff --git a/apps/systemcmds/led/led.c b/apps/systemcmds/led/led.c
index da0d999649..02c1bb1331 100644
--- a/apps/systemcmds/led/led.c
+++ b/apps/systemcmds/led/led.c
@@ -148,7 +148,7 @@ int led_main(int argc, char *argv[])
thread_should_exit = false;
led_task = task_spawn("led",
- SCHED_RR,
+ SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 15,
4096,
led_thread_main,
diff --git a/apps/systemlib/systemlib.c b/apps/systemlib/systemlib.c
index 3d46a17a8e..94a5283f0f 100644
--- a/apps/systemlib/systemlib.c
+++ b/apps/systemlib/systemlib.c
@@ -138,9 +138,8 @@ int task_spawn(const char *name, int scheduler, int priority, int stack_size, ma
param.sched_priority = priority;
sched_setscheduler(pid, scheduler, ¶m);
- /* XXX do any other private task accounting here */
+ /* XXX do any other private task accounting here before the task starts */
}
-
sched_unlock();
return pid;
diff --git a/apps/systemlib/systemlib.h b/apps/systemlib/systemlib.h
index da1524435c..997f40dedb 100644
--- a/apps/systemlib/systemlib.h
+++ b/apps/systemlib/systemlib.h
@@ -50,6 +50,13 @@ __EXPORT int reboot(void);
/** Sends SIGUSR1 to all processes */
__EXPORT void killall(void);
+/** Default scheduler type */
+#if CONFIG_RR_INTERVAL > 0
+# define SCHED_DEFAULT SCHED_RR
+#else
+# define SCHED_DEFAULT SCHED_FIFO
+#endif
+
/** Starts a task and performs any specific accounting, scheduler setup, etc. */
__EXPORT int task_spawn(const char *name,
int priority,
diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig
index e1ba862cf7..c2656217d4 100755
--- a/nuttx/configs/px4fmu/nsh/defconfig
+++ b/nuttx/configs/px4fmu/nsh/defconfig
@@ -546,7 +546,7 @@ CONFIG_HAVE_CXXINITIALIZE=n
CONFIG_MM_REGIONS=2
CONFIG_ARCH_LOWPUTC=y
CONFIG_MSEC_PER_TICK=1
-CONFIG_RR_INTERVAL=1
+CONFIG_RR_INTERVAL=0
CONFIG_SCHED_INSTRUMENTATION=y
CONFIG_TASK_NAME_SIZE=24
CONFIG_START_YEAR=1970