fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-26 17:00:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

POSIX: fixes for use of open vs px4_open, etc

Browse Source 
Fixes for the posix build when virtual devices are used.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-07-01 11:05:45 -07:00
committed by Lorenz Meier
parent af4cc8ec91
commit 28dd9759a6
8 changed files with 94 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+20 -21
View File
@@ -362,7 +362,7 @@ int commander_main(int argc, char *argv[])
if (!strcmp(argv[1], "check")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
int checkres = prearm_check(&status, mavlink_fd_local);
close(mavlink_fd_local);
px4_close(mavlink_fd_local);
warnx("FINAL RESULT: %s", (checkres == 0) ? "OK" : "FAILED");
return 0;
}
@@ -371,14 +371,14 @@ int commander_main(int argc, char *argv[])
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(true, mavlink_fd_local, "command line");
warnx("note: not updating home position on commandline arming!");
close(mavlink_fd_local);
px4_close(mavlink_fd_local);
return 0;
}
if (!strcmp(argv[1], "disarm")) {
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
close(mavlink_fd_local);
px4_close(mavlink_fd_local);
return 0;
}
@@ -389,10 +389,10 @@ int commander_main(int argc, char *argv[])
void usage(const char *reason)
{
if (reason) {
fprintf(stderr, "%s\n", reason);
PX4_INFO("%s\n", reason);
}
fprintf(stderr, "usage: commander {start|stop|status|calibrate|check|arm|disarm}\n\n");
PX4_INFO("usage: commander {start|stop|status|calibrate|check|arm|disarm}\n\n");
}
void print_status()
@@ -444,7 +444,7 @@ void print_status()
break;
}
close(state_sub);
px4_close(state_sub);
warnx("arming: %s", armed_str);
@@ -931,7 +931,6 @@ int commander_thread_main(int argc, char *argv[])
if (battery_init() != OK) {
mavlink_and_console_log_critical(mavlink_fd, "ERROR: BATTERY INIT FAIL");
}
mavlink_fd = px4_open(MAVLINK_LOG_DEVICE, 0);
/* vehicle status topic */
@@ -2166,7 +2165,7 @@ int commander_thread_main(int argc, char *argv[])
arm_tune_played = false;
}
fflush(stdout);
//fflush(stdout);
counter++;
int blink_state = blink_msg_state();
@@ -2200,18 +2199,18 @@ int commander_thread_main(int argc, char *argv[])
/* close fds */
led_deinit();
buzzer_deinit();
close(sp_man_sub);
close(offboard_control_mode_sub);
close(local_position_sub);
close(global_position_sub);
close(gps_sub);
close(sensor_sub);
close(safety_sub);
close(cmd_sub);
close(subsys_sub);
close(diff_pres_sub);
close(param_changed_sub);
close(battery_sub);
px4_close(sp_man_sub);
px4_close(offboard_control_mode_sub);
px4_close(local_position_sub);
px4_close(global_position_sub);
px4_close(gps_sub);
px4_close(sensor_sub);
px4_close(safety_sub);
px4_close(cmd_sub);
px4_close(subsys_sub);
px4_close(diff_pres_sub);
px4_close(param_changed_sub);
px4_close(battery_sub);
thread_running = false;
@@ -2977,7 +2976,7 @@ void *commander_low_prio_loop(void *arg)
}
}
close(cmd_sub);
px4_close(cmd_sub);
return NULL;
}