diff options
Diffstat (limited to 'src/modules/att_pos_estimator_ekf')
-rw-r--r-- | src/modules/att_pos_estimator_ekf/kalman_main.cpp | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/src/modules/att_pos_estimator_ekf/kalman_main.cpp b/src/modules/att_pos_estimator_ekf/kalman_main.cpp index aebe3d1fe..10592ec7c 100644 --- a/src/modules/att_pos_estimator_ekf/kalman_main.cpp +++ b/src/modules/att_pos_estimator_ekf/kalman_main.cpp @@ -44,6 +44,7 @@ #include <string.h> #include <systemlib/systemlib.h> #include <systemlib/param/param.h> +#include <systemlib/err.h> #include <drivers/drv_hrt.h> #include <math.h> #include "KalmanNav.hpp" @@ -73,7 +74,7 @@ usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n"); + warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]"); exit(1); } @@ -94,13 +95,13 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("kalman_demo already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } thread_should_exit = false; - deamon_task = task_spawn("kalman_demo", + deamon_task = task_spawn("att_pos_estimator_ekf", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4096, @@ -116,10 +117,10 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tkalman_demo app is running\n"); + warnx("is running\n"); } else { - printf("\tkalman_demo app not started\n"); + warnx("not started\n"); } exit(0); @@ -132,7 +133,7 @@ int att_pos_estimator_ekf_main(int argc, char *argv[]) int kalman_demo_thread_main(int argc, char *argv[]) { - printf("[kalman_demo] starting\n"); + warnx("starting\n"); using namespace math; @@ -144,7 +145,7 @@ int kalman_demo_thread_main(int argc, char *argv[]) nav.update(); } - printf("[kalman_demo] exiting.\n"); + printf("exiting.\n"); thread_running = false; |