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Commander: Fix commandline handling

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This commit is contained in:
Lorenz Meier
2015-08-26 16:17:07 +02:00
parent 7fb22e77f6
commit 9ef9185d1d
1 changed files with 12 additions and 7 deletions
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src/modules/commander/commander.cpp
+12 -7
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@@ -297,7 +297,7 @@ int commander_main(int argc, char *argv[])
SCHED_PRIORITY_MAX - 40,
3400,
commander_thread_main,
(argv) ? (char * const *)&argv[2] : (char * const *)NULL);
(char * const *)&argv[0]);
unsigned constexpr max_wait_us = 1000000;
unsigned constexpr max_wait_steps = 2000;
@@ -362,7 +362,7 @@ int commander_main(int argc, char *argv[])
if (calib_ret) {
warnx("calibration failed, exiting.");
return 0;
return 1;
} else {
return 0;
}
@@ -391,7 +391,7 @@ int commander_main(int argc, char *argv[])
int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
arm_disarm(false, mavlink_fd_local, "command line");
px4_close(mavlink_fd_local);
return 0;
return 0;
}
usage("unrecognized command");
@@ -878,11 +878,17 @@ int commander_thread_main(int argc, char *argv[])
bool was_armed = false;
bool startup_in_hil = false;
if(argc>0) {
if ( strcmp(argv[0],"-hil")==0) {
#ifdef __PX4_NUTTX
/* NuttX indicates 3 arguments when only 2 are present */
argc -= 1;
#endif
if (argc > 2) {
if (!strcmp(argv[2],"-hil")) {
startup_in_hil = true;
} else {
PX4_ERR("Argument %s not supported.",argv[0]);
PX4_ERR("Argument %s not supported.", argv[2]);
PX4_ERR("COMMANDER NOT STARTED");
thread_should_exit = true;
}
@@ -2238,7 +2244,6 @@ int commander_thread_main(int argc, char *argv[])
arm_tune_played = false;
}
//fflush(stdout);
counter++;
int blink_state = blink_msg_state();