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Minor cleanups in fixed wing control

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This commit is contained in:
Lorenz Meier
2012-09-19 07:42:05 +02:00
parent b0b72b11eb
commit c0cc180876
3 changed files with 73 additions and 170 deletions
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apps/fixedwing_control/fixedwing_control.c
+73 -6
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@@ -63,8 +63,79 @@
#include <uORB/topics/actuator_controls.h>
#include <systemlib/param/param.h>
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
/**
* Deamon management function.
*/
__EXPORT int fixedwing_control_main(int argc, char *argv[]);
/**
* Mainloop of deamon.
*/
int fixedwing_control_thread_main(int argc, char *argv[]);
/**
* Print the correct usage.
*/
static void usage(const char *reason);
static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: fixedwing_control {start|stop|status}\n\n");
exit(1);
}
/**
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int fixedwing_control_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("fixedwing_control already running\n");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_create("fixedwing_control", SCHED_PRIORITY_MAX - 20, 4096, fixedwing_control_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tfixedwing_control is running\n");
} else {
printf("\tfixedwing_control not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
#define PID_DT 0.01f
#define PID_SCALER 0.1f
#define PID_DERIVMODE_CALC 0
@@ -614,14 +685,12 @@ static float calc_pitch_setpoint()
}
/**
* calc_throttle_setpoint
*
* Calculates the throttle setpoint for different flight modes
*
* @return throttle output setpoint
*
*/
static float calc_throttle_setpoint()
{
float setpoint = 0;
@@ -644,8 +713,7 @@ static float calc_throttle_setpoint()
return setpoint;
}
/*
* fixedwing_control_main
/**
*
* @param argc number of arguments
* @param argv argument array
@@ -653,8 +721,7 @@ static float calc_throttle_setpoint()
* @return 0
*
*/
int fixedwing_control_main(int argc, char *argv[])
int fixedwing_control_thread_main(int argc, char *argv[])
{
/* default values for arguments */
char *fixedwing_uart_name = "/dev/ttyS1";