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| author | Julian Oes <julian@oes.ch> | 2013-11-05 19:56:33 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-05 19:56:33 +0100 |
| commit | 4502c285eb8b284b7c08666b6d0e3e81035bace3 (patch) | |
| tree | 717f85b09691bbde7eba6b209d39429899696b0e | |
| parent | 857c3d2efd49085dfd28827b06d96776340e5a09 (diff) | |
| download | px4-firmware-4502c285eb8b284b7c08666b6d0e3e81035bace3.tar.gz px4-firmware-4502c285eb8b284b7c08666b6d0e3e81035bace3.tar.bz2 px4-firmware-4502c285eb8b284b7c08666b6d0e3e81035bace3.zip | |
Startup scripts: Start the commander early and let it try to open the mavlink_fd with 20Hz
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.fixedwing | 5 | ||||
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.multirotor | 5 | ||||
| -rwxr-xr-x | ROMFS/px4fmu_common/init.d/rcS | 5 | ||||
| -rw-r--r-- | src/modules/commander/commander.cpp | 17 |
4 files changed, 12 insertions, 20 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.fixedwing b/ROMFS/px4fmu_common/init.d/rc.fixedwing index 79e34a3b9..f02851006 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fixedwing +++ b/ROMFS/px4fmu_common/init.d/rc.fixedwing @@ -4,11 +4,6 @@ # # -# Start the Commander -# -commander start - -# # Start the sensors and test them. # sh /etc/init.d/rc.sensors diff --git a/ROMFS/px4fmu_common/init.d/rc.multirotor b/ROMFS/px4fmu_common/init.d/rc.multirotor index 6bae99175..bc550ac5a 100644 --- a/ROMFS/px4fmu_common/init.d/rc.multirotor +++ b/ROMFS/px4fmu_common/init.d/rc.multirotor @@ -4,11 +4,6 @@ # # -# Start the Commander -# -commander start - -# # Start the sensors and test them. # sh /etc/init.d/rc.sensors diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index cff8446a6..d8b5cb608 100755 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -105,6 +105,11 @@ then blinkm systemstate fi fi + + # + # Start the Commander (needs to be this early for in-air-restarts) + # + commander start if param compare SYS_AUTOSTART 1000 then diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index ed090271c..ace13bb78 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -116,6 +116,8 @@ extern struct system_load_s system_load; #define LOW_VOLTAGE_BATTERY_COUNTER_LIMIT (LOW_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) #define CRITICAL_VOLTAGE_BATTERY_COUNTER_LIMIT (CRITICAL_VOLTAGE_BATTERY_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) +#define MAVLINK_OPEN_INTERVAL 50000 + #define STICK_ON_OFF_LIMIT 0.75f #define STICK_THRUST_RANGE 1.0f #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 @@ -582,16 +584,6 @@ int commander_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - if (mavlink_fd < 0) { - /* try again later */ - usleep(20000); - mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); - - if (mavlink_fd < 0) { - warnx("ERROR: Failed to open MAVLink log stream again, start mavlink app first."); - } - } - /* Main state machine */ /* make sure we are in preflight state */ memset(&status, 0, sizeof(status)); @@ -770,6 +762,11 @@ int commander_thread_main(int argc, char *argv[]) while (!thread_should_exit) { + if (mavlink_fd < 0 && counter % (1000000 / MAVLINK_OPEN_INTERVAL) == 0) { + /* try to open the mavlink log device every once in a while */ + mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + } + /* update parameters */ orb_check(param_changed_sub, &updated); |