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Better AR interface initialization

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This commit is contained in:
Lorenz Meier
2012-09-06 20:46:53 +02:00
parent db6ec2d7d2
commit 925f143433
2 changed files with 15 additions and 16 deletions
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apps/ardrone_interface/ardrone_interface.c
+13 -13
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@@ -205,18 +205,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
}
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
thread_running = false;
exit(ERROR);
}
/* Led animation */
int counter = 0;
int led_counter = 0;
@@ -237,6 +225,18 @@ int ardrone_interface_thread_main(int argc, char *argv[])
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);
/* initialize multiplexing, deactivate all outputs - must happen after UART open to claim GPIOs on PX4FMU */
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
thread_running = false;
exit(ERROR);
}
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
@@ -253,7 +253,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);
//ar_multiplexing_deinit(gpios);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(&uart_config_original);