--- a/targets/Xenomai/plc_Xenomai_main.c	Mon Aug 16 22:49:08 2021 +0200
+++ b/targets/Xenomai/plc_Xenomai_main.c	Tue Aug 17 12:29:36 2021 +0200
@@ -185,6 +185,10 @@
     return (ret == 1) ? 0 : ((ret == 0) ? EINVAL : -ret);
 }
 
+void nRT_reschedule(void){
+    sched_yield();
+}
+
 void PLC_cleanup_all(void)
 {
     if (PLC_state & PLC_STATE_TASK_CREATED) {