user_ctrl_task
Purpose:
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Provide PID control algorithms for user control loops. Cannot be manually started. It is normally spawned by the user_ctrl_specs task.
Enter:
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user_ctrl_task <priority> <interval> <loop_name> [+c]
Where:
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priority
Specify the desired run priority.
interval
Specify WARP, FAS, MED, SLO, USR1, or USR2.
loop_name
Specify the name of the control loop as specified in the user_ctrl_specs file. Note that this name is limited to 28 characters because it is also used as the registered name.
+c
Optional. Specify this flag to indicate that failure of the task should trip the watchdog if it fails to respond in a timely manner. To change the critical nature of an instance, first slay the existing task, edit the user control specification file and then reprocess it.
Example:
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user_ctrl_task 17 FAS my_fast_ctrl +c &