diff --git a/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy b/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
index 326e8b92..81e4a179 100644
--- a/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
+++ b/src/main/groovy/edu/wpi/first/gradlerio/frc/FRCNativeArtifact.groovy
@@ -40,6 +40,10 @@ class FRCNativeArtifact extends NativeArtifact {
             def binFile = PathUtils.combine(ctx.workingDir, filename ?: file.get().name)
             ctx.execute("chmod +x /home/lvuser/robotCommand; chown lvuser /home/lvuser/robotCommand")
             ctx.execute("chmod +x \"${binFile}\"; chown lvuser \"${binFile}\"")
+            // Let user program set RT thread priorities by making CAP_SYS_NICE
+            // permitted, inheritable, and effective. See "man 7 capabilities"
+            // for docs on capabilities and file capability sets.
+            ctx.execute("setcap cap_sys_nice+eip \"${binFile}\"")
             ctx.execute("sync")
             ctx.execute("ldconfig")
             ctx.execute(". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r 2> /dev/null")