A daemon is a process running in the background. In NuttX a daemon process is a task, in POSIX (Linux / Mac OS) a daemon is a thread.
New daemons are created through the px4_task_spawn() command.
daemon_task = px4_task_spawn_cmd("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT + 40,
3600,
commander_thread_main,
(char * const *)&argv[0]);The arguments here are:
- arg0: the process name,
commander - arg1: the scheduling type (RR or FIFO)
- arg2: the scheduling priority
- arg3: the stack size of the new process or thread
- arg4: the task / thread main function
- arg5: a void pointer to pass to the new task, in this case holding the commandline arguments.