fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hotfix: Ensured there are never two filters running at the same time if auto-magic happens via USB link

Browse Source
This commit is contained in:
Lorenz Meier 2013-07-18 15:20:36 +02:00
parent a5c8d8c5f2
commit e19d2e94ec
4 changed files with 19 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
ROMFS/px4fmu_common/init.d/rc.usb
View File

@ -22,9 +22,16 @@ commander start
sh /etc/init.d/rc.sensors
# Start one of the estimators
if attitude_estimator_ekf start
if attitude_estimator_ekf status
then
echo "estimating attitude"
echo "multicopter att filter running"
else
if att_pos_estimator_ekf status
then
echo "fixedwing att filter running"
else
attitude_estimator_ekf start
fi
fi
# Start GPS

3
src/modules/att_pos_estimator_ekf/kalman_main.cpp
View File

@ -121,12 +121,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running\n");
exit(0);
} else {
warnx("not started\n");
exit(1);
}
exit(0);
}
usage("unrecognized command");

6
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_ekf app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_ekf app not started\n");
warnx("not started");
exit(1);
}
exit(0);

6
src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
View File

@ -139,10 +139,12 @@ int attitude_estimator_so3_comp_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tattitude_estimator_so3_comp app is running\n");
warnx("running");
exit(0);
} else {
printf("\tattitude_estimator_so3_comp app not started\n");
warnx("not started");
exit(1);
}
exit(0);