patacongo edited a comment on issue #1733:
URL: 
https://github.com/apache/incubator-nuttx/issues/1733#issuecomment-688924086


   > This only applies to round robin scheduling, correct? Changing this could 
be quite complex in the SMP case.
   > 
   > Is it a work around to (1) make sure that all tasks have a unique 
priority, and (2) disable round robin scheduling?
   
   Yes, KEEP_ALIVE_HACK only applies if round robin or sporadic scheduling is 
enabled.  See sched/sched/sched_timerexpiration.c
   
   This issue is, as I recall, not that the timer is needed all of the time.  
The issue is that the timer cannot be started when a a new round robin task is 
started.  The work around to avoid having to start the timer is just to never 
stop it.
   
   So the only real fix would be to improve the logic that starts the timer 
when a new round robin (or sporadic) task is started.
   


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