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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-20 09:47:14 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-02-20 09:47:14 +0100 |
commit | 16b0fa7fd4f01600ba8b05d5bb4b3cfc1931efd0 (patch) | |
tree | 97be25f74e97b450bafba140d8da3a75e326a3c6 /apps/commander | |
parent | 4cde2754666cea6332bb8069da518d28226c9477 (diff) | |
parent | 69d9265bc3a9883c3cc180fe54223dd3be9dc36d (diff) | |
download | px4-firmware-16b0fa7fd4f01600ba8b05d5bb4b3cfc1931efd0.tar.gz px4-firmware-16b0fa7fd4f01600ba8b05d5bb4b3cfc1931efd0.tar.bz2 px4-firmware-16b0fa7fd4f01600ba8b05d5bb4b3cfc1931efd0.zip |
Merge branch 'master' of github.com:PX4/Firmware into px4io-i2c
Diffstat (limited to 'apps/commander')
-rw-r--r-- | apps/commander/commander.c | 32 |
1 files changed, 19 insertions, 13 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index b18714532..8127dcb19 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -421,7 +421,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) // mavlink_log_info(mavlink_fd, buf); // } - if (poll(fds, 1, 1000)) { + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { orb_copy(ORB_ID(sensor_mag), sub_mag, &mag); x[calibration_counter] = mag.x; @@ -453,9 +455,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) calibration_counter++; - } else { + } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "mag cal canceled"); + mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)"); break; } } @@ -545,7 +547,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status) /* third beep by cal end routine */ } else { - mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN)"); + mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)"); } /* disable calibration mode */ @@ -590,14 +592,16 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) /* wait blocking for new data */ struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - if (poll(fds, 1, 1000)) { + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); gyro_offset[0] += raw.gyro_rad_s[0]; gyro_offset[1] += raw.gyro_rad_s[1]; gyro_offset[2] += raw.gyro_rad_s[2]; calibration_counter++; - } else { + } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry"); return; @@ -698,14 +702,16 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status) /* wait blocking for new data */ struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - if (poll(fds, 1, 1000)) { + int poll_ret = poll(fds, 1, 1000); + + if (poll_ret) { orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); accel_offset[0] += raw.accelerometer_m_s2[0]; accel_offset[1] += raw.accelerometer_m_s2[1]; accel_offset[2] += raw.accelerometer_m_s2[2]; calibration_counter++; - } else { + } else if (poll_ret == 0) { /* any poll failure for 1s is a reason to abort */ mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); return; @@ -1221,11 +1227,10 @@ int commander_main(int argc, char *argv[]) thread_should_exit = false; daemon_task = task_spawn("commander", SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 50, - 4000, + SCHED_PRIORITY_MAX - 40, + 3000, commander_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); - thread_running = true; exit(0); } @@ -1313,7 +1318,8 @@ int commander_thread_main(int argc, char *argv[]) memset(&home, 0, sizeof(home)); if (stat_pub < 0) { - warnx("ERROR: orb_advertise for topic vehicle_status failed.\n"); + warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n"); + warnx("exiting."); exit(ERROR); } @@ -1398,6 +1404,7 @@ int commander_thread_main(int argc, char *argv[]) /* now initialized */ commander_initialized = true; + thread_running = true; uint64_t start_time = hrt_absolute_time(); uint64_t failsave_ll_start_time = 0; @@ -1405,7 +1412,6 @@ int commander_thread_main(int argc, char *argv[]) bool state_changed = true; bool param_init_forced = true; - while (!thread_should_exit) { /* Get current values */ |