From 717c90eab4ddd18937906f4ad01f19f26df540ff Mon Sep 17 00:00:00 2001 From: stmoon Date: Fri, 15 Apr 2016 15:39:43 +0900 Subject: [PATCH] enable commander hil option when hils mode test for merge... recover modification part --- ROMFS/px4fmu_common/init.d/rcS | 7 ++++++- src/modules/commander/commander.cpp | 4 ++-- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 64d214ae52..40468977b1 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -330,7 +330,12 @@ then sh /etc/init.d/rc.sensors # Needs to be this early for in-air-restarts - commander start + if [ $OUTPUT_MODE == hil ] + then + commander start -hil + else + commander start + fi # # Start primary output diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index b3d71228eb..44c7fc26ea 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1132,10 +1132,10 @@ int commander_thread_main(int argc, char *argv[]) #endif if (argc > 2) { - if (!strcmp(argv[2],"-hil")) { + if (!strcmp(argv[3],"-hil")) { startup_in_hil = true; } else { - PX4_ERR("Argument %s not supported.", argv[2]); + PX4_ERR("Argument %s not supported.", argv[3]); PX4_ERR("COMMANDER NOT STARTED"); thread_should_exit = true; }