Merge branch 'master' of github.com:PX4/Firmware into beta

Tools/sitl_run.sh

@@ -14,6 +14,15 @@ echo program: $program
 echo model: $model
 echo build_path: $build_path
 
+if [ "$chroot" == "1" ]
+then
+	chroot_enabled=-c
+	sudo_enabled=sudo
+else
+	chroot_enabled=""
+	sudo_enabled=""
+fi
+
 if [ "$model" == "" ] || [ "$model" == "none" ]
 then
 	echo "empty model, setting iris as default"
@@ -48,7 +57,7 @@ if [ "$program" == "jmavsim" ] && [ "$no_sim" == "" ]
 then
 	cd Tools/jMAVSim
 	ant
-	nice -n -10 java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
+	java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560 &
 	SIM_PID=`echo $!`
 elif [ "$program" == "gazebo" ] && [ "$no_sim" == "" ]
 then
@@ -65,7 +74,7 @@ then
 		cd Tools/sitl_gazebo/Build
 		cmake -Wno-dev ..
 		make -j4
-		nice -n -10 gzserver --verbose ../worlds/${model}.world &
+		gzserver --verbose ../worlds/${model}.world &
 		SIM_PID=`echo $!`
 		gzclient --verbose &
 		GUI_PID=`echo $!`
@@ -96,7 +105,7 @@ elif [ "$debugger" == "valgrind" ]
 then
 	valgrind ./mainapp ../../../../${rc_script}_${program}_${model}
 else
-	nice -n -10 ./mainapp ../../../../${rc_script}_${program}_${model}
+	$sudo_enabled ./mainapp $chroot_enabled ../../../../${rc_script}_${program}_${model}
 fi
 
 if [ "$program" == "jmavsim" ]

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -143,7 +143,7 @@ set(config_module_list
 	#examples/math_demo
 	# Tutorial code from
 	# https://px4.io/dev/px4_simple_app
-	#examples/px4_simple_app
+	examples/px4_simple_app
 
 	# Tutorial code from
 	# https://px4.io/dev/daemon

cmake/configs/posix_sitl_default.cmake

@@ -59,6 +59,7 @@ set(config_module_list
 	lib/launchdetection
 	lib/terrain_estimation
 	lib/runway_takeoff
+	examples/px4_simple_app
 	)
 
 set(config_extra_builtin_cmds

src/examples/px4_simple_app/px4_simple_app.c

@@ -39,6 +39,8 @@
  */
 
 #include <px4_config.h>
+#include <px4_tasks.h>
+#include <px4_posix.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
@@ -52,7 +54,7 @@ __EXPORT int px4_simple_app_main(int argc, char *argv[]);
 
 int px4_simple_app_main(int argc, char *argv[])
 {
-	printf("Hello Sky!\n");
+	PX4_INFO("Hello Sky!");
 
 	/* subscribe to sensor_combined topic */
 	int sensor_sub_fd = orb_subscribe(ORB_ID(sensor_combined));
@@ -64,7 +66,7 @@ int px4_simple_app_main(int argc, char *argv[])
 	orb_advert_t att_pub = orb_advertise(ORB_ID(vehicle_attitude), &att);
 
 	/* one could wait for multiple topics with this technique, just using one here */
-	struct pollfd fds[] = {
+	px4_pollfd_struct_t fds[] = {
 		{ .fd = sensor_sub_fd,   .events = POLLIN },
 		/* there could be more file descriptors here, in the form like:
 		 * { .fd = other_sub_fd,   .events = POLLIN },
@@ -75,19 +77,19 @@ int px4_simple_app_main(int argc, char *argv[])
 
 	for (int i = 0; i < 5; i++) {
 		/* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */
-		int poll_ret = poll(fds, 1, 1000);
+		int poll_ret = px4_poll(fds, 1, 1000);
 
 		/* handle the poll result */
 		if (poll_ret == 0) {
 			/* this means none of our providers is giving us data */
-			printf("[px4_simple_app] Got no data within a second\n");
+			PX4_ERR("[px4_simple_app] Got no data within a second");
 
 		} else if (poll_ret < 0) {
 			/* this is seriously bad - should be an emergency */
 			if (error_counter < 10 || error_counter % 50 == 0) {
 				/* use a counter to prevent flooding (and slowing us down) */
-				printf("[px4_simple_app] ERROR return value from poll(): %d\n"
-				       , poll_ret);
+				PX4_ERR("[px4_simple_app] ERROR return value from poll(): %d"
+					, poll_ret);
 			}
 
 			error_counter++;
@@ -99,10 +101,10 @@ int px4_simple_app_main(int argc, char *argv[])
 				struct sensor_combined_s raw;
 				/* copy sensors raw data into local buffer */
 				orb_copy(ORB_ID(sensor_combined), sensor_sub_fd, &raw);
-				printf("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f\n",
-				       (double)raw.accelerometer_m_s2[0],
-				       (double)raw.accelerometer_m_s2[1],
-				       (double)raw.accelerometer_m_s2[2]);
+				PX4_WARN("[px4_simple_app] Accelerometer:\t%8.4f\t%8.4f\t%8.4f",
+					 (double)raw.accelerometer_m_s2[0],
+					 (double)raw.accelerometer_m_s2[1],
+					 (double)raw.accelerometer_m_s2[2]);
 
 				/* set att and publish this information for other apps */
 				att.roll = raw.accelerometer_m_s2[0];
@@ -117,5 +119,7 @@ int px4_simple_app_main(int argc, char *argv[])
 		}
 	}
 
+	PX4_INFO("exiting");
+
 	return 0;
 }

src/modules/commander/accelerometer_calibration.cpp

@@ -326,7 +326,7 @@ int do_accel_calibration(int mavlink_fd)
 
 static calibrate_return accel_calibration_worker(detect_orientation_return orientation, int cancel_sub, void* data)
 {
-	const unsigned samples_num = 3000;
+	const unsigned samples_num = 750;
 	accel_worker_data_t* worker_data = (accel_worker_data_t*)(data);
 	
 	mavlink_and_console_log_info(worker_data->mavlink_fd, "[cal] Hold still, measuring %s side", detect_orientation_str(orientation));
@@ -574,7 +574,8 @@ calibrate_return calculate_calibration_values(unsigned sensor, float (&accel_ref
 int do_level_calibration(int mavlink_fd) {
 	const unsigned cal_time = 5;
 	const unsigned cal_hz = 100;
-	const unsigned settle_time = 30;
+	unsigned settle_time = 30;
+
 	bool success = false;
 	int att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
 	struct vehicle_attitude_s att;
@@ -582,18 +583,25 @@ int do_level_calibration(int mavlink_fd) {
 
 	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, "level");
 
-	param_t roll_offset_handler = param_find("SENS_BOARD_X_OFF");
-	param_t pitch_offset_handler = param_find("SENS_BOARD_Y_OFF");
+	param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF");
+	param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");
+	param_t board_rot_handle = param_find("SENS_BOARD_ROT");
 
 	// save old values if calibration fails
 	float roll_offset_current;
 	float pitch_offset_current;
-	param_get(roll_offset_handler, &roll_offset_current);
-	param_get(pitch_offset_handler, &pitch_offset_current);
+	int32_t board_rot_current = 0;
+	param_get(roll_offset_handle, &roll_offset_current);
+	param_get(pitch_offset_handle, &pitch_offset_current);
+	param_get(board_rot_handle, &board_rot_current);
+
+	if (board_rot_current == 0) {
+		settle_time = 0;
+	}
 
 	float zero = 0.0f;
-	param_set(roll_offset_handler, &zero);
-	param_set(pitch_offset_handler, &zero);
+	param_set(roll_offset_handle, &zero);
+	param_set(pitch_offset_handle, &zero);
 
 	px4_pollfd_struct_t fds[1];
 
@@ -647,8 +655,8 @@ int do_level_calibration(int mavlink_fd) {
 	} else {
 		roll_mean *= (float)M_RAD_TO_DEG;
 		pitch_mean *= (float)M_RAD_TO_DEG;
-		param_set(roll_offset_handler, &roll_mean);
-		param_set(pitch_offset_handler, &pitch_mean);
+		param_set(roll_offset_handle, &roll_mean);
+		param_set(pitch_offset_handle, &pitch_mean);
 		success = true;
 	}
 
@@ -658,8 +666,8 @@ out:
 		return 0;
 	} else {
 		// set old parameters
-		param_set(roll_offset_handler, &roll_offset_current);
-		param_set(pitch_offset_handler, &pitch_offset_current);
+		param_set(roll_offset_handle, &roll_offset_current);
+		param_set(pitch_offset_handle, &pitch_offset_current);
 		mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, "level");
 		return 1;
 	}

src/modules/commander/commander.cpp

@@ -392,9 +392,7 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "arm")) {
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
-		if (TRANSITION_CHANGED == arm_disarm(true, mavlink_fd_local, "command line")) {
-			warnx("note: not updating home position on commandline arming!");
-		} else {
+		if (TRANSITION_CHANGED != arm_disarm(true, mavlink_fd_local, "command line")) {
 			warnx("arming failed");
 		}
 		px4_close(mavlink_fd_local);
@@ -412,11 +410,12 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "takeoff")) {
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
-		if (TRANSITION_CHANGED == arm_disarm(true, mavlink_fd_local, "command line")) {
-			warnx("note: not updating home position on commandline arming!");
 
-			/* see if we got a home position */
-			if (status.condition_home_position_valid) {
+		/* see if we got a home position */
+		if (status.condition_home_position_valid) {
+
+			if (TRANSITION_CHANGED == arm_disarm(true, mavlink_fd_local, "command line")) {
+
 				vehicle_command_s cmd = {};
 				cmd.target_system = status.system_id;
 				cmd.target_component = status.component_id;
@@ -433,12 +432,13 @@ int commander_main(int argc, char *argv[])
 				(void)orb_advertise(ORB_ID(vehicle_command), &cmd);
 
 			} else {
-				warnx("rejecting takeoff, no position lock yet");
+				warnx("arming failed");
 			}
 
 		} else {
-			warnx("arming failed");
+			warnx("rejecting takeoff, no position lock yet. Please retry..");
 		}
+
 		px4_close(mavlink_fd_local);
 		return 0;
 	}
@@ -707,6 +707,13 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 
 				} else {
 					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+
+					/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
+					if (cmd_arms && (arming_res == TRANSITION_CHANGED) &&
+						(hrt_absolute_time() > (commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL))) {
+
+						commander_set_home_position(*home_pub, *home, *local_pos, *global_pos, *attitude);
+					}
 				}
 			}
 		}
@@ -1549,7 +1556,9 @@ int commander_thread_main(int argc, char *argv[])
 					_usb_telemetry_active = true;
 				}
 
-				telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
+				if (telemetry.heartbeat_time > 0) {
+					telemetry_last_heartbeat[i] = telemetry.heartbeat_time;
+				}
 			}
 		}
 

src/modules/mavlink/mavlink_mission.cpp

@@ -813,7 +813,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 	mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
 	mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
 	mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
-	mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+
+	/* unsigned, so can't be negative, only check for overflow */
+	if (mavlink_mission_item->command >= NAV_CMD_INVALID) {
+		mission_item->nav_cmd = NAV_CMD_INVALID;
+
+	} else {
+		mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
+	}
 
 	mission_item->autocontinue = mavlink_mission_item->autocontinue;
 	// mission_item->index = mavlink_mission_item->seq;

src/modules/mavlink/mavlink_receiver.cpp

@@ -1178,7 +1178,8 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 			tstatus.heartbeat_time = tstatus.timestamp;
 
 			if (_telemetry_status_pub == nullptr) {
-				_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, NULL, ORB_PRIO_HIGH);
+				int multi_instance;
+				_telemetry_status_pub = orb_advertise_multi(ORB_ID(telemetry_status), &tstatus, &multi_instance, ORB_PRIO_HIGH);
 
 			} else {
 				orb_publish(ORB_ID(telemetry_status), _telemetry_status_pub, &tstatus);

src/modules/navigator/mission.cpp

@@ -303,7 +303,7 @@ Mission::advance_mission()
 	}
 }
 
-int
+float
 Mission::get_absolute_altitude_for_item(struct mission_item_s &mission_item)
 {
 	if (_mission_item.altitude_is_relative) {
@@ -656,8 +656,10 @@ Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s
 	for (int i = 0; i < 10; i++) {
 
 		if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
-			/* mission item index out of bounds */
-			mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
+			/* mission item index out of bounds - if they are equal, we just reached the end */
+			if (*mission_index_ptr != (int)mission->count) {
+				mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
+			}
 			return false;
 		}
 

src/modules/navigator/mission.h

@@ -133,7 +133,7 @@ private:
 	 */
 	void altitude_sp_foh_reset();
 
-	int get_absolute_altitude_for_item(struct mission_item_s &mission_item);
+	float get_absolute_altitude_for_item(struct mission_item_s &mission_item);
 
 	/**
 	 * Read current or next mission item from the dataman and watch out for DO_JUMPS

src/modules/navigator/navigation.h

@@ -63,8 +63,8 @@ enum NAV_CMD {
 	NAV_CMD_PATHPLANNING = 81,
 	NAV_CMD_DO_JUMP = 177,
 	NAV_CMD_DO_SET_SERVO=183,
-	NAV_CMD_DO_REPEAT_SERVO=184
-
+	NAV_CMD_DO_REPEAT_SERVO=184,
+	NAV_CMD_INVALID=UINT16_MAX /* ensure that casting a large number results in a specific error */
 };
 
 enum ORIGIN {

src/modules/vtol_att_control/standard.cpp

@@ -54,6 +54,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
 	_mc_roll_weight = 1.0f;
 	_mc_pitch_weight = 1.0f;
 	_mc_yaw_weight = 1.0f;
+	_mc_throttle_weight = 1.0f;
 
 	_params_handles_standard.front_trans_dur = param_find("VT_F_TRANS_DUR");
 	_params_handles_standard.back_trans_dur = param_find("VT_B_TRANS_DUR");
@@ -113,6 +114,7 @@ void Standard::update_vtol_state()
 			_mc_roll_weight = 1.0f;
 			_mc_pitch_weight = 1.0f;
 			_mc_yaw_weight = 1.0f;
+			_mc_throttle_weight = 1.0f;
 
 		} else if (_vtol_schedule.flight_mode == FW_MODE) {
 			// transition to mc mode
@@ -126,6 +128,7 @@ void Standard::update_vtol_state()
 			_mc_roll_weight = 1.0f;
 			_mc_pitch_weight = 1.0f;
 			_mc_yaw_weight = 1.0f;
+			_mc_throttle_weight = 1.0f;
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
 			// transition to MC mode if transition time has passed
@@ -151,6 +154,7 @@ void Standard::update_vtol_state()
 			_mc_roll_weight = 0.0f;
 			_mc_pitch_weight = 0.0f;
 			_mc_yaw_weight = 0.0f;
+			_mc_throttle_weight = 0.0f;
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
 			// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
@@ -207,12 +211,14 @@ void Standard::update_transition_state()
 			_mc_roll_weight = weight;
 			_mc_pitch_weight = weight;
 			_mc_yaw_weight = weight;
+			_mc_throttle_weight = weight;
 
 		} else {
 			// at low speeds give full weight to mc
 			_mc_roll_weight = 1.0f;
 			_mc_pitch_weight = 1.0f;
 			_mc_yaw_weight = 1.0f;
+			_mc_throttle_weight = 1.0f;
 		}
 
 	} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@@ -223,11 +229,13 @@ void Standard::update_transition_state()
 			_mc_roll_weight = weight;
 			_mc_pitch_weight = weight;
 			_mc_yaw_weight = weight;
+			_mc_throttle_weight = weight;
 
 		} else {
 			_mc_roll_weight = 1.0f;
 			_mc_pitch_weight = 1.0f;
 			_mc_yaw_weight = 1.0f;
+			_mc_throttle_weight = 1.0f;
 		}
 
 		// in fw mode we need the multirotor motors to stop spinning, in backtransition mode we let them spin up again
@@ -241,6 +249,7 @@ void Standard::update_transition_state()
 	_mc_roll_weight = math::constrain(_mc_roll_weight, 0.0f, 1.0f);
 	_mc_pitch_weight = math::constrain(_mc_pitch_weight, 0.0f, 1.0f);
 	_mc_yaw_weight = math::constrain(_mc_yaw_weight, 0.0f, 1.0f);
+	_mc_throttle_weight = math::constrain(_mc_throttle_weight, 0.0f, 1.0f);
 }
 
 void Standard::update_mc_state()
@@ -280,7 +289,7 @@ void Standard::fill_actuator_outputs()
 	_actuators_out_0->control[actuator_controls_s::INDEX_YAW] = _actuators_mc_in->control[actuator_controls_s::INDEX_YAW] *
 			_mc_yaw_weight;	// yaw
 	_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
-		_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];	// throttle
+		_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE] * _mc_throttle_weight;	// throttle
 
 	/* fixed wing controls */
 	_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = -_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL]

src/modules/vtol_att_control/tailsitter.cpp

@@ -178,7 +178,7 @@ void Tailsitter::update_vtol_state()
 
 			// check if we have reached airspeed  and pitch angle to switch to TRANSITION P2 mode
 			if ((_airspeed->true_airspeed_m_s >= _params_tailsitter.airspeed_trans
-			    && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
+			     && _v_att->pitch <= PITCH_TRANSITION_FRONT_P1) || !_armed->armed) {
 				_vtol_schedule.flight_mode = FW_MODE;
 				//_vtol_schedule.transition_start = hrt_absolute_time();
 			}
@@ -461,7 +461,8 @@ void Tailsitter::fill_actuator_outputs()
 			// NOTE: There is no mistake in the line below, multicopter yaw axis is controlled by elevon roll actuation!
 			_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
 				_actuators_mc_in->control[actuator_controls_s::INDEX_YAW];	//roll elevon
-			_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = _actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];	//pitch elevon
+			_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =
+				_actuators_mc_in->control[actuator_controls_s::INDEX_PITCH];	//pitch elevon
 		}
 
 		break;

src/modules/vtol_att_control/vtol_type.h

@@ -117,6 +117,8 @@ protected:
 	float _mc_roll_weight;	// weight for multicopter attitude controller roll output
 	float _mc_pitch_weight;	// weight for multicopter attitude controller pitch output
 	float _mc_yaw_weight;	// weight for multicopter attitude controller yaw output
+	float _mc_throttle_weight;	// weight for multicopter throttle command. Used to avoid
+	// motors spinning up or cutting too fast whend doing transitions.
 
 	float _yaw_transition;	// yaw angle in which transition will take place
 	float _pitch_transition_start;  // pitch angle at the start of transition (tailsitter)

src/platforms/posix/main.cpp

@@ -44,6 +44,8 @@
 #include <sstream>
 #include <vector>
 #include <signal.h>
+#include <unistd.h>
+#include <stdio.h>
 #include "apps.h"
 #include "px4_middleware.h"
 #include "DriverFramework.hpp"
@@ -157,6 +159,7 @@ static void process_line(string &line, bool exit_on_fail)
 int main(int argc, char **argv)
 {
 	bool daemon_mode = false;
+	bool chroot_on = false;
 	signal(SIGINT, _SigIntHandler);
 	signal(SIGFPE, _SigFpeHandler);
 
@@ -174,6 +177,9 @@ int main(int argc, char **argv)
 				usage();
 				return 0;
 
+			} else if (strcmp(argv[index], "-c") == 0) {
+				chroot_on = true;
+
 			} else {
 				PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
 				return 1;
@@ -203,7 +209,7 @@ int main(int argc, char **argv)
 
 		px4::init(argc, argv, "mainapp");
 
-		//if commandfile is present, process the commands from the file
+		// if commandfile is present, process the commands from the file
 		if (commands_file != nullptr) {
 			ifstream infile(commands_file);
 
@@ -217,6 +223,41 @@ int main(int argc, char **argv)
 			}
 		}
 
+		if (chroot_on) {
+			// Lock this application in the current working dir
+			// this is not an attempt to secure the environment,
+			// rather, to replicate a deployed file system.
+
+#ifdef PATH_MAX
+			const unsigned path_max_len = PATH_MAX;
+#else
+			const unsigned path_max_len = 1024;
+#endif
+
+			char pwd_path[path_max_len];
+			const char *folderpath = "/rootfs/";
+
+			if (nullptr == getcwd(pwd_path, sizeof(pwd_path))) {
+				PX4_ERR("Failed aquiring working dir, abort.");
+				exit(1);
+			}
+
+			if (nullptr == strcat(pwd_path, folderpath)) {
+				PX4_ERR("Failed completing path, abort.");
+				exit(1);
+			}
+
+			if (chroot(pwd_path)) {
+				PX4_ERR("Failed chrooting application, path: %s, error: %s.", pwd_path, strerror(errno));
+				exit(1);
+			}
+
+			if (chdir("/")) {
+				PX4_ERR("Failed changing to root dir, path: %s, error: %s.", pwd_path, strerror(errno));
+				exit(1);
+			}
+		}
+
 		if (!daemon_mode) {
 			string mystr = "";
 			string string_buffer[CMD_BUFF_SIZE];