From 7633c986c56d22c1fda0bf6b8d8d174f56a39af6 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 7 Sep 2015 14:32:56 +0200
Subject: [PATCH] Fix POSIX scheduling levels

---
 src/platforms/px4_tasks.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/platforms/px4_tasks.h b/src/platforms/px4_tasks.h
index 5c5232e226..3d36a65cfd 100644
--- a/src/platforms/px4_tasks.h
+++ b/src/platforms/px4_tasks.h
@@ -67,11 +67,11 @@ typedef int px4_task_t;
 #ifdef __PX4_LINUX
 #define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
 #define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
-#define SCHED_PRIORITY_DEFAULT ((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2)
+#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
 #elif defined(__PX4_DARWIN)
 #define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
 #define SCHED_PRIORITY_MIN sched_get_priority_min(SCHED_FIFO)
-#define SCHED_PRIORITY_DEFAULT ((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2)
+#define SCHED_PRIORITY_DEFAULT (((sched_get_priority_max(SCHED_FIFO) - sched_get_priority_min(SCHED_FIFO)) / 2) + sched_get_priority_min(SCHED_FIFO))
 #elif defined(__PX4_QURT)
 #define SCHED_PRIORITY_MAX 0
 #define SCHED_PRIORITY_MIN 0
-- 
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