Orocos & gnu/linux 2.6

FYI:  I got an orocos motion control application (latest svn code) with
comedi (latest CVS code) to run on a 2.6.3 kernel (normal, non-realtime).

The setup:
HARDWARE:
- A standard i386 desktop pc (1.8 GHz, 256 MB Ram) equipped with 2 nationial
  instruments data acquisition cards (both are standard PCI cards):
  - NI6024E (AD/DA, DIO)
  - NI6602 (Counter/Encoder)

  We use the comedi drivers for both of these cards.

- 2 independent motors equipped with incremental encoders and the
  necessary power drives

SOFTWARE:
- Standard gnu/linux 2.6.3 kernel (unpatched)
- Comedi latest CVS snapshot
- Orocos latest subversion snapshot, "ecosconfiged" to gnu/linux, with
  most of the default settings (the Zero time thread configured to run
  at 100 Hz instead of default 1000 Hz)
- Orocos application code of "independent axes" platform.

Everything goes fine, and the performance is _way_ better then the
performance of standard gnulinux 2.4 (with scheduler frequency of 100 Hz).

This is the first time I see a orocos/gnulinux (with the emphasis on
gnulinux ofcourse since rtai/lxrt worked out fine since "ages" :-))
target perform something which is worthy the name of motion "control" :-)

regards,

klaas