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Ported mc_att_control

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This commit is contained in:
Lorenz Meier 2015-03-29 00:55:04 +01:00 committed by Mark Charlebois
parent 509f7f9fdb
commit a2a113ee28
1 changed files with 23 additions and 15 deletions
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38
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -894,10 +894,8 @@ MulticopterAttitudeControl::task_main()
perf_end(_loop_perf);
}
warnx("exit");
_control_task = -1;
_exit(0);
return;
}
int
@ -924,43 +922,53 @@ MulticopterAttitudeControl::start()
int mc_att_control_main(int argc, char *argv[])
{
if (argc < 2) {
errx(1, "usage: mc_att_control {start|stop|status}");
warnx("usage: mc_att_control {start|stop|status}");
return 1;
}
if (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr)
errx(1, "already running");
if (mc_att_control::g_control != nullptr) {
warnx("already running");
return 1;
}
mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr)
errx(1, "alloc failed");
if (mc_att_control::g_control == nullptr) {
warnx("alloc failed");
return 1;
}
if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
err(1, "start failed");
warnx("start failed");
return 1;
}
exit(0);
return 0;
}
if (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr)
errx(1, "not running");
if (mc_att_control::g_control == nullptr) {
warnx("not running");
return 1;
}
delete mc_att_control::g_control;
mc_att_control::g_control = nullptr;
exit(0);
return 0;
}
if (!strcmp(argv[1], "status")) {
if (mc_att_control::g_control) {
errx(0, "running");
warnx("running");
return 0;
} else {
errx(1, "not running");
warnx("not running");
return 1;
}
}