From 0acdffad90ef91bfab63f2203e9929f02eff5124 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Mon, 11 Feb 2019 11:31:37 +0100 Subject: [PATCH] fix MPU6000: restore orb priority Fixes regression from https://github.com/PX4/Firmware/pull/11216. --- src/drivers/imu/mpu6000/MPU6000.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/drivers/imu/mpu6000/MPU6000.cpp b/src/drivers/imu/mpu6000/MPU6000.cpp index 96c2545a8b43..d1f923f45541 100644 --- a/src/drivers/imu/mpu6000/MPU6000.cpp +++ b/src/drivers/imu/mpu6000/MPU6000.cpp @@ -48,8 +48,8 @@ MPU6000::MPU6000(device::Device *interface, const char *path, enum Rotation rota #else _use_hrt(true), #endif - _px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT), rotation), - _px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_HIGH : ORB_PRIO_DEFAULT), rotation), + _px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation), + _px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation), _sample_perf(perf_alloc(PC_ELAPSED, "mpu6k_read")), _measure_interval(perf_alloc(PC_INTERVAL, "mpu6k_measure_interval")), _bad_transfers(perf_alloc(PC_COUNT, "mpu6k_bad_trans")),