In the file config.h, task priorities were set. but some tasks had the same priority such as STABILIZER_TASK_PRI was 4 and so the SENSORS_TASK_PRI, why did not set different priority, for example, the STABILIZER_TASK_PRI was 5 and SENSORS_TASK_PRI was 4?
Thanks
crazyflie task priorities
Re: crazyflie task priorities
FreeRTOS allows us to have multiple tasks set with the same priority, in that case the tasks will be scheduled in round-robin.
Stabilizer and sensor tasks share the highest priority but there is no preference as of which one is more critical: each must be served regularity in order to fly, this is why they ended-up on the same priority level.
As a side note: adding priority level in FreeRTOS adds a bit of RAM consumption so it it was good for Crazyflie 1.0 to limit the number of priority level.
Stabilizer and sensor tasks share the highest priority but there is no preference as of which one is more critical: each must be served regularity in order to fly, this is why they ended-up on the same priority level.
As a side note: adding priority level in FreeRTOS adds a bit of RAM consumption so it it was good for Crazyflie 1.0 to limit the number of priority level.
Re: crazyflie task priorities
Thanks arnaud for your such clear answer!