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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-01 11:22:18 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-01 11:22:18 +0100 |
commit | 83eb81251c8405c96aaa72fc1634d15a5b54af29 (patch) | |
tree | 9f16c77d9c3797e74bbe67c0d1ee367a5ba94b26 | |
parent | eeda1886f0e7f15b2e51d863020f794b1a84efc1 (diff) | |
download | px4-firmware-83eb81251c8405c96aaa72fc1634d15a5b54af29.tar.gz px4-firmware-83eb81251c8405c96aaa72fc1634d15a5b54af29.tar.bz2 px4-firmware-83eb81251c8405c96aaa72fc1634d15a5b54af29.zip |
NSH term: Only time out if no arming information is available, if arming information is available abort if unconnected on arming
-rw-r--r-- | src/systemcmds/nshterm/nshterm.c | 27 |
1 files changed, 25 insertions, 2 deletions
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c index f06c49552..edeb5c624 100644 --- a/src/systemcmds/nshterm/nshterm.c +++ b/src/systemcmds/nshterm/nshterm.c @@ -51,6 +51,8 @@ #include <fcntl.h> #include <systemlib/err.h> +#include <uORB/topics/actuator_armed.h> + __EXPORT int nshterm_main(int argc, char *argv[]); int @@ -62,9 +64,30 @@ nshterm_main(int argc, char *argv[]) } unsigned retries = 0; int fd = -1; + int armed_fd = orb_subscribe(ORB_ID(actuator_armed)); + struct actuator_armed_s armed; + /* we assume the system does not provide arming status feedback */ + bool armed_updated = false; + + /* try the first 30 seconds or if arming system is ready */ + while ((retries < 300) || armed_updated) { + + /* abort if an arming topic is published and system is armed */ + bool updated = false; + if (orb_check(armed_fd, &updated)) { + /* the system is now providing arming status feedback. + * instead of timing out, we resort to abort bringing + * up the terminal. + */ + armed_updated = true; + orb_copy(ORB_ID(actuator_armed), armed_fd, &armed); + + if (armed.armed) { + /* this is not an error, but we are done */ + exit(0); + } + } - /* try the first 30 seconds */ - while (retries < 300) { /* the retries are to cope with the behaviour of /dev/ttyACM0 */ /* which may not be ready immediately. */ fd = open(argv[1], O_RDWR); |