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add start wrapper for mc att ctl multip

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This commit is contained in:
Thomas Gubler 2015-01-25 18:23:46 +01:00
parent 5cb208c32f
commit 092a3c5129
2 changed files with 2 additions and 65 deletions
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66
src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
View File

@ -55,72 +55,8 @@
#include "mc_att_control.h"
bool thread_running = false; /**< Deamon status flag */
static int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
PX4_MAIN_FUNCTION(mc_att_control_m);
#if !defined(__PX4_ROS)
/**
* Multicopter attitude control app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mc_att_control_m_main(int argc, char *argv[]);
int mc_att_control_m_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: mc_att_control_m {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
task_should_exit = false;
daemon_task = task_spawn_cmd("mc_att_control_m",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
3000,
mc_att_control_m_task_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
task_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
} else {
warnx("not started");
}
exit(0);
}
warnx("unrecognized command");
return 1;
}
#endif
PX4_MAIN_FUNCTION(mc_att_control_m)
int main(int argc, char **argv)
{
px4::init(argc, argv, "mc_att_control_m");

1
src/modules/mc_att_control_multiplatform/module.mk
View File

@ -38,6 +38,7 @@
MODULE_COMMAND = mc_att_control_m
SRCS = mc_att_control_main.cpp \
mc_att_control_start_nuttx.cpp \
mc_att_control.cpp \
mc_att_control_base.cpp \
mc_att_control_params.c