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Ported mc_att_control

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This commit is contained in:
Lorenz Meier
2015-04-20 11:18:43 -07:00
committed by Mark Charlebois
parent 509f7f9fdb
commit a2a113ee28
1 changed files with 23 additions and 15 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+23 -15
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@@ -894,10 +894,8 @@ MulticopterAttitudeControl::task_main()
perf_end(_loop_perf); perf_end(_loop_perf);
} }
warnx("exit");
_control_task = -1; _control_task = -1;
_exit(0); return;
} }
int int
@@ -924,43 +922,53 @@ MulticopterAttitudeControl::start()
int mc_att_control_main(int argc, char *argv[]) int mc_att_control_main(int argc, char *argv[])
{ {
if (argc < 2) { 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 (!strcmp(argv[1], "start")) {
if (mc_att_control::g_control != nullptr) if (mc_att_control::g_control != nullptr) {
errx(1, "already running"); warnx("already running");
return 1;
}
mc_att_control::g_control = new MulticopterAttitudeControl; mc_att_control::g_control = new MulticopterAttitudeControl;
if (mc_att_control::g_control == nullptr) if (mc_att_control::g_control == nullptr) {
errx(1, "alloc failed"); warnx("alloc failed");
return 1;
}
if (OK != mc_att_control::g_control->start()) { if (OK != mc_att_control::g_control->start()) {
delete mc_att_control::g_control; delete mc_att_control::g_control;
mc_att_control::g_control = nullptr; 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 (!strcmp(argv[1], "stop")) {
if (mc_att_control::g_control == nullptr) if (mc_att_control::g_control == nullptr) {
errx(1, "not running"); warnx("not running");
return 1;
}
delete mc_att_control::g_control; delete mc_att_control::g_control;
mc_att_control::g_control = nullptr; mc_att_control::g_control = nullptr;
exit(0); return 0;
} }
if (!strcmp(argv[1], "status")) { if (!strcmp(argv[1], "status")) {
if (mc_att_control::g_control) { if (mc_att_control::g_control) {
errx(0, "running"); warnx("running");
return 0;
} else { } else {
errx(1, "not running"); warnx("not running");
return 1;
} }
} }