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Lorenz Meier
2013-06-07 13:04:49 +02:00
parent 34b6a91860 5c74809dac
commit ebc12eebd0
8 changed files with 101 additions and 32 deletions
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src/modules/att_pos_estimator_ekf/kalman_main.cpp
+9 -7
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@@ -44,6 +44,7 @@
#include <string.h>
#include <systemlib/systemlib.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include "KalmanNav.hpp"
@@ -73,7 +74,7 @@ usage(const char *reason)
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
exit(1);
}
@@ -94,13 +95,14 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("kalman_demo already running\n");
warnx("already running");
/* this is not an error */
exit(0);
}
thread_should_exit = false;
deamon_task = task_spawn_cmd("kalman_demo",
deamon_task = task_spawn_cmd("att_pos_estimator_ekf",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
4096,
@@ -116,10 +118,10 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tkalman_demo app is running\n");
warnx("is running\n");
} else {
printf("\tkalman_demo app not started\n");
warnx("not started\n");
}
exit(0);
@@ -132,7 +134,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
int kalman_demo_thread_main(int argc, char *argv[])
{
printf("[kalman_demo] starting\n");
warnx("starting\n");
using namespace math;
@@ -144,7 +146,7 @@ int kalman_demo_thread_main(int argc, char *argv[])
nav.update();
}
printf("[kalman_demo] exiting.\n");
printf("exiting.\n");
thread_running = false;