diff options
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); |