Fixed yaw estimate, minor comment and code style improvements. Added option for upfront init, prepared process for removal (later) of sensors app and subscription to individual topics. Prototyping rework of params / subscriptions to resolve GCC 4.7 incompatibility of control lib (or rather the fact that we need to work around something which looks like a compiler bug)

1 files changed, 11 insertions, 9 deletions

diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
index 890184427..4befdc879 100644
--- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp
+++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp
@@ -1,7 +1,7 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Example User <mail@example.com>
+ *   Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ *   Author: 	James Goppert
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,8 +33,10 @@
  ****************************************************************************/
 
 /**
- * @file kalman_demo.cpp
- * Demonstration of control library
+ * @file kalman_main.cpp
+ * Combined attitude / position estimator.
+ *
+ * @author James Goppert
  */
 
 #include <nuttx/config.h>
@@ -51,7 +53,7 @@
 
 static bool thread_should_exit = false;     /**< Deamon exit flag */
 static bool thread_running = false;     /**< Deamon status flag */
-static int deamon_task;             /**< Handle of deamon task / thread */
+static int daemon_task;             /**< Handle of deamon task / thread */
 
 /**
  * Deamon management function.
@@ -102,9 +104,9 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 
 		thread_should_exit = false;
 
-		deamon_task = task_spawn_cmd("att_pos_estimator_ekf",
+		daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
 					 SCHED_DEFAULT,
-					 SCHED_PRIORITY_MAX - 5,
+					 SCHED_PRIORITY_MAX - 30,
 					 4096,
 					 kalman_demo_thread_main,
 					 (argv) ? (const char **)&argv[2] : (const char **)NULL);
@@ -134,7 +136,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[])
 int kalman_demo_thread_main(int argc, char *argv[])
 {
 
-	warnx("starting\n");
+	warnx("starting");
 
 	using namespace math;
 
@@ -146,7 +148,7 @@ int kalman_demo_thread_main(int argc, char *argv[])
 		nav.update();
 	}
 
-	printf("exiting.\n");
+	warnx("exiting.");
 
 	thread_running = false;