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Fixed mavlink app termination, terminates now cleanly

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This commit is contained in:
Lorenz Meier
2012-10-23 10:58:47 +02:00
parent 3f240a70ba
commit f13c7821d9
2 changed files with 18 additions and 15 deletions
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apps/commander/commander.c
+14 -14
View File
@@ -960,12 +960,6 @@ static void *orb_receive_loop(void *arg) //handles status information coming fr
return NULL;
}
enum BAT_CHEM {
BAT_CHEM_LITHIUM_POLYMERE = 0,
};
/*
* Provides a coarse estimate of remaining battery power.
*
@@ -973,35 +967,41 @@ enum BAT_CHEM {
*
* @return the estimated remaining capacity in 0..1
*/
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage);
float battery_remaining_estimate_voltage(float voltage);
PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.2f);
PARAM_DEFINE_FLOAT(BAT_V_FULL, 4.05f);
PARAM_DEFINE_FLOAT(BAT_N_CELLS, 3);
float battery_remaining_estimate_voltage(int cells, int chemistry, float voltage)
float battery_remaining_estimate_voltage(float voltage)
{
float ret = 0;
static param_t bat_volt_empty;
static param_t bat_volt_full;
static param_t bat_n_cells;
static bool initialized = false;
static unsigned int counter = 0;
static float ncells = 3;
// XXX change cells to int (and param to INT32)
if (!initialized) {
bat_volt_empty = param_find("BAT_V_EMPTY");
bat_volt_full = param_find("BAT_V_FULL");
bat_n_cells = param_find("BAT_N_CELLS");
initialized = true;
}
float chemistry_voltage_empty[1] = { 3.2f };
float chemistry_voltage_full[1] = { 4.05f };
static float chemistry_voltage_empty = 3.2f;
static float chemistry_voltage_full = 4.05f;
if (counter % 100 == 0) {
param_get(bat_volt_empty, &(chemistry_voltage_empty[0]));
param_get(bat_volt_full, &(chemistry_voltage_full[0]));
param_get(bat_volt_empty, &chemistry_voltage_empty);
param_get(bat_volt_full, &chemistry_voltage_full);
param_get(bat_n_cells, &ncells);
}
counter++;
ret = (voltage - cells * chemistry_voltage_empty[chemistry]) / (cells * (chemistry_voltage_full[chemistry] - chemistry_voltage_empty[chemistry]));
ret = (voltage - ncells * chemistry_voltage_empty) / (ncells * (chemistry_voltage_full - chemistry_voltage_empty));
/* limit to sane values */
ret = (ret < 0) ? 0 : ret;
@@ -1218,7 +1218,7 @@ int commander_thread_main(int argc, char *argv[])
* valid and system has been running for two and a half seconds
*/
if (battery_voltage_valid && (hrt_absolute_time() - start_time > 2500000)) {
bat_remain = battery_remaining_estimate_voltage(3, BAT_CHEM_LITHIUM_POLYMERE, battery_voltage);
bat_remain = battery_remaining_estimate_voltage(battery_voltage);
}
/* Slow but important 8 Hz checks */
apps/mavlink/mavlink.c
+4 -1
View File
@@ -745,7 +745,10 @@ int mavlink_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
/* XXX should wait for it to actually exit here */
while (thread_running) {
usleep(200000);
}
warnx("terminated.");
exit(0);
}