mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 16:53:34 +08:00
Merge remote-tracking branch 'upstream/master' into manualcontrolrename
Conflicts: src/modules/commander/commander.cpp src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp src/modules/uORB/topics/manual_control_setpoint.h
This commit is contained in:
Thomas Gubler
+155
-67
@@ -175,7 +175,8 @@ private:
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/**
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* Get switch position for specified function.
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*/
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switch_pos_t get_rc_switch_position(enum RC_CHANNELS_FUNCTION func);
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switch_pos_t get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv);
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switch_pos_t get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv);
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/**
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* Gather and publish RC input data.
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@@ -219,8 +220,8 @@ private:
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struct differential_pressure_s _diff_pres;
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struct airspeed_s _airspeed;
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math::Matrix<3,3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
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math::Matrix<3,3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
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math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
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math::Matrix<3, 3> _external_mag_rotation; /**< rotation matrix for the orientation that an external mag is mounted */
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bool _mag_is_external; /**< true if the active mag is on an external board */
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uint64_t _battery_discharged; /**< battery discharged current in mA*ms */
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@@ -250,14 +251,13 @@ private:
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int rc_map_pitch;
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int rc_map_yaw;
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int rc_map_throttle;
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int rc_map_failsafe;
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int rc_map_mode_sw;
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int rc_map_return_sw;
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int rc_map_assisted_sw;
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int rc_map_posctl_sw;
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int rc_map_loiter_sw;
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// int rc_map_offboard_ctrl_mode_sw;
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int rc_map_flaps;
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int rc_map_aux1;
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@@ -266,7 +266,17 @@ private:
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int rc_map_aux4;
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int rc_map_aux5;
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int32_t rc_fs_thr;
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int32_t rc_fails_thr;
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float rc_assist_th;
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float rc_auto_th;
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float rc_posctl_th;
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float rc_return_th;
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float rc_loiter_th;
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bool rc_assist_inv;
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bool rc_auto_inv;
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bool rc_posctl_inv;
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bool rc_return_inv;
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bool rc_loiter_inv;
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float battery_voltage_scaling;
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float battery_current_scaling;
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@@ -293,14 +303,13 @@ private:
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param_t rc_map_pitch;
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param_t rc_map_yaw;
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param_t rc_map_throttle;
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param_t rc_map_failsafe;
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param_t rc_map_mode_sw;
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param_t rc_map_return_sw;
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param_t rc_map_assisted_sw;
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param_t rc_map_posctl_sw;
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param_t rc_map_loiter_sw;
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// param_t rc_map_offboard_ctrl_mode_sw;
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param_t rc_map_flaps;
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param_t rc_map_aux1;
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@@ -309,7 +318,12 @@ private:
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param_t rc_map_aux4;
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param_t rc_map_aux5;
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param_t rc_fs_thr;
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param_t rc_fails_thr;
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param_t rc_assist_th;
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param_t rc_auto_th;
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param_t rc_posctl_th;
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param_t rc_return_th;
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param_t rc_loiter_th;
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param_t battery_voltage_scaling;
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param_t battery_current_scaling;
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@@ -416,7 +430,7 @@ private:
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/**
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* Main sensor collection task.
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*/
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void task_main() __attribute__((noreturn));
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void task_main();
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};
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namespace sensors
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@@ -499,6 +513,7 @@ Sensors::Sensors() :
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_parameter_handles.rc_map_pitch = param_find("RC_MAP_PITCH");
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_parameter_handles.rc_map_yaw = param_find("RC_MAP_YAW");
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_parameter_handles.rc_map_throttle = param_find("RC_MAP_THROTTLE");
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_parameter_handles.rc_map_failsafe = param_find("RC_MAP_FAILSAFE");
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/* mandatory mode switches, mapped to channel 5 and 6 per default */
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_parameter_handles.rc_map_mode_sw = param_find("RC_MAP_MODE_SW");
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@@ -507,19 +522,22 @@ Sensors::Sensors() :
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_parameter_handles.rc_map_flaps = param_find("RC_MAP_FLAPS");
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/* optional mode switches, not mapped per default */
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_parameter_handles.rc_map_assisted_sw = param_find("RC_MAP_ASSIST_SW");
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_parameter_handles.rc_map_posctl_sw = param_find("RC_MAP_POSCTL_SW");
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_parameter_handles.rc_map_loiter_sw = param_find("RC_MAP_LOITER_SW");
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// _parameter_handles.rc_map_offboard_ctrl_mode_sw = param_find("RC_MAP_OFFB_SW");
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_parameter_handles.rc_map_aux1 = param_find("RC_MAP_AUX1");
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_parameter_handles.rc_map_aux2 = param_find("RC_MAP_AUX2");
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_parameter_handles.rc_map_aux3 = param_find("RC_MAP_AUX3");
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_parameter_handles.rc_map_aux4 = param_find("RC_MAP_AUX4");
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_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
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/* RC failsafe */
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_parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR");
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/* RC thresholds */
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_parameter_handles.rc_fails_thr = param_find("RC_FAILS_THR");
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_parameter_handles.rc_assist_th = param_find("RC_ASSIST_TH");
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_parameter_handles.rc_auto_th = param_find("RC_AUTO_TH");
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_parameter_handles.rc_posctl_th = param_find("RC_POSCTL_TH");
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_parameter_handles.rc_return_th = param_find("RC_RETURN_TH");
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_parameter_handles.rc_loiter_th = param_find("RC_LOITER_TH");
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/* gyro offsets */
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_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
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@@ -620,8 +638,9 @@ Sensors::parameters_update()
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}
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/* handle wrong values */
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if (!rc_valid)
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if (!rc_valid) {
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warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
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}
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const char *paramerr = "FAIL PARM LOAD";
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@@ -642,6 +661,10 @@ Sensors::parameters_update()
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_failsafe, &(_parameters.rc_map_failsafe)) != OK) {
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
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warnx("%s", paramerr);
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}
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@@ -650,7 +673,7 @@ Sensors::parameters_update()
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warnx("%s", paramerr);
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}
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if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
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if (param_get(_parameter_handles.rc_map_posctl_sw, &(_parameters.rc_map_posctl_sw)) != OK) {
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warnx("%s", paramerr);
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}
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@@ -662,16 +685,27 @@ Sensors::parameters_update()
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warnx("%s", paramerr);
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}
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// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
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// warnx("Failed getting offboard control mode sw chan index");
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// }
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param_get(_parameter_handles.rc_map_aux1, &(_parameters.rc_map_aux1));
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param_get(_parameter_handles.rc_map_aux2, &(_parameters.rc_map_aux2));
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param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
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param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
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param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
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param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
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param_get(_parameter_handles.rc_fails_thr, &(_parameters.rc_fails_thr));
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param_get(_parameter_handles.rc_assist_th, &(_parameters.rc_assist_th));
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_parameters.rc_assist_inv = (_parameters.rc_assist_th < 0);
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_parameters.rc_assist_th = fabs(_parameters.rc_assist_th);
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param_get(_parameter_handles.rc_auto_th, &(_parameters.rc_auto_th));
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_parameters.rc_auto_inv = (_parameters.rc_auto_th < 0);
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_parameters.rc_auto_th = fabs(_parameters.rc_auto_th);
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param_get(_parameter_handles.rc_posctl_th, &(_parameters.rc_posctl_th));
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_parameters.rc_posctl_inv = (_parameters.rc_posctl_th < 0);
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_parameters.rc_posctl_th = fabs(_parameters.rc_posctl_th);
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param_get(_parameter_handles.rc_return_th, &(_parameters.rc_return_th));
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_parameters.rc_return_inv = (_parameters.rc_return_th < 0);
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_parameters.rc_return_th = fabs(_parameters.rc_return_th);
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param_get(_parameter_handles.rc_loiter_th, &(_parameters.rc_loiter_th));
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_parameters.rc_loiter_inv = (_parameters.rc_loiter_th < 0);
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_parameters.rc_loiter_th = fabs(_parameters.rc_loiter_th);
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/* update RC function mappings */
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_rc.function[THROTTLE] = _parameters.rc_map_throttle - 1;
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@@ -681,13 +715,11 @@ Sensors::parameters_update()
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_rc.function[MODE] = _parameters.rc_map_mode_sw - 1;
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_rc.function[RETURN] = _parameters.rc_map_return_sw - 1;
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_rc.function[ASSISTED] = _parameters.rc_map_assisted_sw - 1;
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_rc.function[POSCTL] = _parameters.rc_map_posctl_sw - 1;
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_rc.function[LOITER] = _parameters.rc_map_loiter_sw - 1;
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_rc.function[FLAPS] = _parameters.rc_map_flaps - 1;
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// _rc.function[OFFBOARD_MODE] = _parameters.rc_map_offboard_ctrl_mode_sw - 1;
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_rc.function[AUX_1] = _parameters.rc_map_aux1 - 1;
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_rc.function[AUX_2] = _parameters.rc_map_aux2 - 1;
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_rc.function[AUX_3] = _parameters.rc_map_aux3 - 1;
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@@ -800,12 +832,14 @@ Sensors::gyro_init()
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#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
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/* set the gyro internal sampling rate up to at least 1000Hz */
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if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK)
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if (ioctl(fd, GYROIOCSSAMPLERATE, 1000) != OK) {
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ioctl(fd, GYROIOCSSAMPLERATE, 800);
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}
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/* set the driver to poll at 1000Hz */
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if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK)
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if (ioctl(fd, SENSORIOCSPOLLRATE, 1000) != OK) {
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ioctl(fd, SENSORIOCSPOLLRATE, 800);
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}
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#else
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@@ -860,12 +894,15 @@ Sensors::mag_init()
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ret = ioctl(fd, MAGIOCGEXTERNAL, 0);
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if (ret < 0)
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if (ret < 0) {
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errx(1, "FATAL: unknown if magnetometer is external or onboard");
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else if (ret == 1)
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} else if (ret == 1) {
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_mag_is_external = true;
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else
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} else {
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_mag_is_external = false;
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}
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close(fd);
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}
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@@ -965,10 +1002,12 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
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math::Vector<3> vect(mag_report.x, mag_report.y, mag_report.z);
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if (_mag_is_external)
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if (_mag_is_external) {
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vect = _external_mag_rotation * vect;
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else
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} else {
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vect = _board_rotation * vect;
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}
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raw.magnetometer_ga[0] = vect(0);
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raw.magnetometer_ga[1] = vect(1);
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@@ -1086,8 +1125,9 @@ Sensors::parameter_update_poll(bool forced)
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_parameters.gyro_scale[2],
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};
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if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale))
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if (OK != ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gscale)) {
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warn("WARNING: failed to set scale / offsets for gyro");
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}
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close(fd);
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@@ -1101,8 +1141,9 @@ Sensors::parameter_update_poll(bool forced)
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_parameters.accel_scale[2],
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};
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if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale))
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if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) {
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warn("WARNING: failed to set scale / offsets for accel");
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}
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close(fd);
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@@ -1116,8 +1157,9 @@ Sensors::parameter_update_poll(bool forced)
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_parameters.mag_scale[2],
|
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};
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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale))
|
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if (OK != ioctl(fd, MAGIOCSSCALE, (long unsigned int)&mscale)) {
|
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warn("WARNING: failed to set scale / offsets for mag");
|
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}
|
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close(fd);
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@@ -1131,8 +1173,10 @@ Sensors::parameter_update_poll(bool forced)
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1.0f,
|
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};
|
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|
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if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale))
|
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if (OK != ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
|
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warn("WARNING: failed to set scale / offsets for airspeed sensor");
|
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}
|
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|
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close(fd);
|
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}
|
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|
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@@ -1150,10 +1194,12 @@ void
|
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Sensors::adc_poll(struct sensor_combined_s &raw)
|
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{
|
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/* only read if publishing */
|
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if (!_publishing)
|
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if (!_publishing) {
|
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return;
|
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}
|
||||
|
||||
hrt_abstime t = hrt_absolute_time();
|
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|
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/* rate limit to 100 Hz */
|
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if (t - _last_adc >= 10000) {
|
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/* make space for a maximum of twelve channels (to ensure reading all channels at once) */
|
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@@ -1178,6 +1224,7 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
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|
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if (voltage > BATT_V_IGNORE_THRESHOLD) {
|
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_battery_status.voltage_v = voltage;
|
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|
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/* one-time initialization of low-pass value to avoid long init delays */
|
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if (_battery_status.voltage_filtered_v < BATT_V_IGNORE_THRESHOLD) {
|
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_battery_status.voltage_filtered_v = voltage;
|
||||
@@ -1196,19 +1243,24 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
/* handle current only if voltage is valid */
|
||||
if (_battery_status.voltage_v > 0.0f) {
|
||||
float current = (buf_adc[i].am_data * _parameters.battery_current_scaling);
|
||||
|
||||
/* check measured current value */
|
||||
if (current >= 0.0f) {
|
||||
_battery_status.timestamp = t;
|
||||
_battery_status.current_a = current;
|
||||
|
||||
if (_battery_current_timestamp != 0) {
|
||||
/* initialize discharged value */
|
||||
if (_battery_status.discharged_mah < 0.0f)
|
||||
if (_battery_status.discharged_mah < 0.0f) {
|
||||
_battery_status.discharged_mah = 0.0f;
|
||||
}
|
||||
|
||||
_battery_discharged += current * (t - _battery_current_timestamp);
|
||||
_battery_status.discharged_mah = ((float) _battery_discharged) / 3600000.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
_battery_current_timestamp = t;
|
||||
|
||||
} else if (ADC_AIRSPEED_VOLTAGE_CHANNEL == buf_adc[i].am_channel) {
|
||||
@@ -1241,7 +1293,9 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
_last_adc = t;
|
||||
|
||||
if (_battery_status.voltage_filtered_v > BATT_V_IGNORE_THRESHOLD) {
|
||||
/* announce the battery status if needed, just publish else */
|
||||
if (_battery_pub > 0) {
|
||||
@@ -1260,6 +1314,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = _rc.chan[_rc.function[func]].scaled;
|
||||
|
||||
if (value < min_value) {
|
||||
return min_value;
|
||||
|
||||
@@ -1269,24 +1324,44 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
|
||||
} else {
|
||||
return value;
|
||||
}
|
||||
|
||||
} else {
|
||||
return 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
Sensors::get_rc_switch_position(enum RC_CHANNELS_FUNCTION func)
|
||||
Sensors::get_rc_sw3pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv, float mid_th, bool mid_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = _rc.chan[_rc.function[func]].scaled;
|
||||
if (value > STICK_ON_OFF_LIMIT) {
|
||||
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return SWITCH_POS_ON;
|
||||
|
||||
} else if (value < -STICK_ON_OFF_LIMIT) {
|
||||
return SWITCH_POS_OFF;
|
||||
} else if (mid_inv ? value < mid_th : value > mid_th) {
|
||||
return SWITCH_POS_MIDDLE;
|
||||
|
||||
} else {
|
||||
return SWITCH_POS_MIDDLE;
|
||||
return SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
return SWITCH_POS_NONE;
|
||||
}
|
||||
}
|
||||
|
||||
switch_pos_t
|
||||
Sensors::get_rc_sw2pos_position(enum RC_CHANNELS_FUNCTION func, float on_th, bool on_inv)
|
||||
{
|
||||
if (_rc.function[func] >= 0) {
|
||||
float value = 0.5f * _rc.chan[_rc.function[func]].scaled + 0.5f;
|
||||
|
||||
if (on_inv ? value < on_th : value > on_th) {
|
||||
return SWITCH_POS_ON;
|
||||
|
||||
} else {
|
||||
return SWITCH_POS_OFF;
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -1318,13 +1393,18 @@ Sensors::rc_poll()
|
||||
/* signal looks good */
|
||||
signal_lost = false;
|
||||
|
||||
/* check throttle failsafe */
|
||||
int8_t thr_ch = _rc.function[THROTTLE];
|
||||
if (_parameters.rc_fs_thr > 0 && thr_ch >= 0) {
|
||||
/* throttle failsafe configured */
|
||||
if ((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) ||
|
||||
(_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr)) {
|
||||
/* throttle failsafe triggered, signal is lost by receiver */
|
||||
/* check failsafe */
|
||||
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
|
||||
|
||||
if (_parameters.rc_map_failsafe > 0) { // if not 0, use channel number instead of rc.function mapping
|
||||
fs_ch = _parameters.rc_map_failsafe - 1;
|
||||
}
|
||||
|
||||
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
|
||||
/* failsafe configured */
|
||||
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||
|
||||
(_parameters.rc_fails_thr > _parameters.max[fs_ch] && rc_input.values[fs_ch] > _parameters.rc_fails_thr)) {
|
||||
/* failsafe triggered, signal is lost by receiver */
|
||||
signal_lost = true;
|
||||
}
|
||||
}
|
||||
@@ -1332,8 +1412,9 @@ Sensors::rc_poll()
|
||||
|
||||
unsigned channel_limit = rc_input.channel_count;
|
||||
|
||||
if (channel_limit > _rc_max_chan_count)
|
||||
if (channel_limit > _rc_max_chan_count) {
|
||||
channel_limit = _rc_max_chan_count;
|
||||
}
|
||||
|
||||
/* read out and scale values from raw message even if signal is invalid */
|
||||
for (unsigned int i = 0; i < channel_limit; i++) {
|
||||
@@ -1341,11 +1422,13 @@ Sensors::rc_poll()
|
||||
/*
|
||||
* 1) Constrain to min/max values, as later processing depends on bounds.
|
||||
*/
|
||||
if (rc_input.values[i] < _parameters.min[i])
|
||||
if (rc_input.values[i] < _parameters.min[i]) {
|
||||
rc_input.values[i] = _parameters.min[i];
|
||||
}
|
||||
|
||||
if (rc_input.values[i] > _parameters.max[i])
|
||||
if (rc_input.values[i] > _parameters.max[i]) {
|
||||
rc_input.values[i] = _parameters.max[i];
|
||||
}
|
||||
|
||||
/*
|
||||
* 2) Scale around the mid point differently for lower and upper range.
|
||||
@@ -1377,8 +1460,9 @@ Sensors::rc_poll()
|
||||
_rc.chan[i].scaled *= _parameters.rev[i];
|
||||
|
||||
/* handle any parameter-induced blowups */
|
||||
if (!isfinite(_rc.chan[i].scaled))
|
||||
if (!isfinite(_rc.chan[i].scaled)) {
|
||||
_rc.chan[i].scaled = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
_rc.chan_count = rc_input.channel_count;
|
||||
@@ -1414,10 +1498,10 @@ Sensors::rc_poll()
|
||||
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
|
||||
|
||||
/* mode switches */
|
||||
manual.mode_switch = get_rc_switch_position(MODE);
|
||||
manual.assisted_switch = get_rc_switch_position(ASSISTED);
|
||||
manual.loiter_switch = get_rc_switch_position(LOITER);
|
||||
manual.return_switch = get_rc_switch_position(RETURN);
|
||||
manual.mode_switch = get_rc_sw3pos_position(MODE, _parameters.rc_auto_th, _parameters.rc_auto_inv, _parameters.rc_assist_th, _parameters.rc_assist_inv);
|
||||
manual.posctl_switch = get_rc_sw2pos_position(POSCTL, _parameters.rc_posctl_th, _parameters.rc_posctl_inv);
|
||||
manual.return_switch = get_rc_sw2pos_position(RETURN, _parameters.rc_return_th, _parameters.rc_return_inv);
|
||||
manual.loiter_switch = get_rc_sw2pos_position(LOITER, _parameters.rc_loiter_th, _parameters.rc_loiter_inv);
|
||||
|
||||
/* publish manual_control_setpoint topic */
|
||||
if (_manual_control_pub > 0) {
|
||||
@@ -1560,8 +1644,9 @@ Sensors::task_main()
|
||||
diff_pres_poll(raw);
|
||||
|
||||
/* Inform other processes that new data is available to copy */
|
||||
if (_publishing)
|
||||
if (_publishing) {
|
||||
orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw);
|
||||
}
|
||||
|
||||
/* Look for new r/c input data */
|
||||
rc_poll();
|
||||
@@ -1598,18 +1683,21 @@ Sensors::start()
|
||||
|
||||
int sensors_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1)
|
||||
if (argc < 1) {
|
||||
errx(1, "usage: sensors {start|stop|status}");
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (sensors::g_sensors != nullptr)
|
||||
if (sensors::g_sensors != nullptr) {
|
||||
errx(0, "already running");
|
||||
}
|
||||
|
||||
sensors::g_sensors = new Sensors;
|
||||
|
||||
if (sensors::g_sensors == nullptr)
|
||||
if (sensors::g_sensors == nullptr) {
|
||||
errx(1, "alloc failed");
|
||||
}
|
||||
|
||||
if (OK != sensors::g_sensors->start()) {
|
||||
delete sensors::g_sensors;
|
||||
@@ -1621,8 +1709,9 @@ int sensors_main(int argc, char *argv[])
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
if (sensors::g_sensors == nullptr)
|
||||
if (sensors::g_sensors == nullptr) {
|
||||
errx(1, "not running");
|
||||
}
|
||||
|
||||
delete sensors::g_sensors;
|
||||
sensors::g_sensors = nullptr;
|
||||
@@ -1641,4 +1730,3 @@ int sensors_main(int argc, char *argv[])
|
||||
warnx("unrecognized command");
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user