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

4 files changed, 19 insertions, 7 deletions

diff --git a/ROMFS/px4fmu_common/init.d/rc.usb b/ROMFS/px4fmu_common/init.d/rc.usb
index 986821994..147521fd1 100644
--- a/ROMFS/px4fmu_common/init.d/rc.usb
+++ b/ROMFS/px4fmu_common/init.d/rc.usb
@@ -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
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 4befdc879..372b2d162 100644
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -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");
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index d8b40ac3b..1eff60e88 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -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);
diff --git a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
index 3ca50fb39..107c2dfb1 100755
--- a/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
+++ b/src/modules/attitude_estimator_so3_comp/attitude_estimator_so3_comp_main.cpp
@@ -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);