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| author | Julian Oes <julian@oes.ch> | 2014-02-11 22:36:36 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-02-11 22:36:36 +0100 |
| commit | ea2a69d8bf15cdb0c4a3234ed2851f9380d5adfc (patch) | |
| tree | 4482542f2c213da3181abe0f764e68e627a0d85a /src/modules/mavlink/mavlink_main.cpp | |
| parent | 19105bebc58a045446746813a50bf74faaa3ad39 (diff) | |
| download | px4-firmware-ea2a69d8bf15cdb0c4a3234ed2851f9380d5adfc.tar.gz px4-firmware-ea2a69d8bf15cdb0c4a3234ed2851f9380d5adfc.tar.bz2 px4-firmware-ea2a69d8bf15cdb0c4a3234ed2851f9380d5adfc.zip | |
Mavlink: get orb_listener to work
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 29 |
1 files changed, 24 insertions, 5 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index cb620349d..f1ec6e8dc 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -153,6 +153,7 @@ namespace mavlink Mavlink::Mavlink() : // _mavlink_fd(-1), + _next(nullptr), _task_should_exit(false), thread_running(false), _mavlink_task(-1), @@ -1448,6 +1449,8 @@ Mavlink::task_main(int argc, char *argv[]) _baudrate = 57600; _chan = MAVLINK_COMM_0; + _mode = MODE_OFFBOARD; + /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; @@ -1488,7 +1491,23 @@ Mavlink::task_main(int argc, char *argv[]) warnx("MAVLink v1.0 serial interface starting..."); /* inform about mode */ - warnx((_mode == MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); + switch (_mode) { + case MODE_TX_HEARTBEAT_ONLY: + warnx("MODE_TX_HEARTBEAT_ONLY"); + break; + case MODE_OFFBOARD: + warnx("MODE_OFFBOARD"); + break; + case MODE_ONBOARD: + warnx("MODE_ONBOARD"); + break; + case MODE_HIL: + warnx("MODE_HIL"); + break; + default: + warnx("Error: Unknown mode"); + break; + } /* Flush stdout in case MAVLink is about to take it over */ fflush(stdout); @@ -1506,12 +1525,12 @@ Mavlink::task_main(int argc, char *argv[]) mavlink_update_system(); /* start the MAVLink receiver */ - // MavlinkReceiver rcv(this); - //receive_thread = MavlinkReceiver::receive_start(this); +// MavlinkReceiver rcv(this); + receive_thread = MavlinkReceiver::receive_start(this); /* start the ORB receiver */ - //MavlinkOrbListener listener(this); - //uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this); +// MavlinkOrbListener listener(this); + uorb_receive_thread = MavlinkOrbListener::uorb_receive_start(this); /* initialize waypoint manager */ mavlink_wpm_init(wpm); |