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Simulator: Provide better and more user-facing feedback

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This commit is contained in:
Lorenz Meier
2015-09-12 15:44:40 +02:00
parent d2f7f6e7a9
commit 0597c57c32
2 changed files with 11 additions and 11 deletions
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src/modules/simulator/simulator.cpp
-1
View File
@@ -120,7 +120,6 @@ int Simulator::start(int argc, char *argv[])
int ret = 0;
_instance = new Simulator();
if (_instance) {
PX4_INFO("Simulator started");
drv_led_start();
if (argv[2][1] == 's') {
_instance->initializeSensorData();
src/modules/simulator/simulator_mavlink.cpp
+11 -10
View File
@@ -409,15 +409,16 @@ void Simulator::pollForMAVLinkMessages(bool publish)
int serial_fd = openUart(PIXHAWK_DEVICE, 115200);
if (serial_fd < 0) {
PX4_WARN("failed to open %s", PIXHAWK_DEVICE);
}
PX4_INFO("Not using %s for radio control input. Assuming joystick input via MAVLink.", PIXHAWK_DEVICE);
} else {
// tell the device to stream some messages
char command[] = "\nsh /etc/init.d/rc.usb\n";
int w = ::write(serial_fd, command, sizeof(command));
// tell the device to stream some messages
char command[] = "\nsh /etc/init.d/rc.usb\n";
int w = ::write(serial_fd, command, sizeof(command));
if (w <= 0) {
PX4_WARN("failed to send streaming command to %s", PIXHAWK_DEVICE);
if (w <= 0) {
PX4_WARN("failed to send streaming command to %s", PIXHAWK_DEVICE);
}
}
char serial_buf[1024];
@@ -433,18 +434,18 @@ void Simulator::pollForMAVLinkMessages(bool publish)
// wait for first data from simulator and respond with first controls
// this is important for the UDP communication to work
int pret = -1;
PX4_WARN("Waiting for initial data on UDP.. Please connect the simulator first.");
PX4_INFO("Waiting for initial data on UDP. Please start the flight simulator to proceed..");
while (pret <= 0) {
pret = ::poll(&fds[0], (sizeof(fds[0])/sizeof(fds[0])), 100);
}
PX4_WARN("Found initial message, pret = %d",pret);
PX4_INFO("Found initial message, pret = %d",pret);
_initialized = true;
// reset system time
(void)hrt_reset();
if (fds[0].revents & POLLIN) {
len = recvfrom(_fd, _buf, sizeof(_buf), 0, (struct sockaddr *)&_srcaddr, &_addrlen);
PX4_WARN("Sending initial controls message to jMAVSim.");
PX4_INFO("Sending initial controls message to jMAVSim.");
send_controls();
}