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Connection to last_letter once again successful

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This commit is contained in:
Georacer 2016-10-16 17:35:14 +03:00 committed by Andrew Tridgell
parent 24d3399fd5
commit 54c1efe5e1
2 changed files with 22 additions and 35 deletions
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55
libraries/SITL/SIM_last_letter.cpp
View File

@ -53,39 +53,24 @@ last_letter::last_letter(const char *home_str, const char *_frame_str) :
void last_letter::start_last_letter(void)
{
pid_t child_pid = fork();
if (child_pid != 0) {
return;
if (child_pid == 0) {
// in child
close(0);
open("/dev/null", O_RDONLY);
for (uint8_t i=3; i<100; i++) {
close(i);
}
int ret = execlp("roslaunch",
"roslaunch",
"last_letter",
"gazebo.launch",
"ArduPlane:=true",
NULL);
if (ret != 0) {
perror("roslaunch");
}
exit(1);
}
// in child
close(0);
open("/dev/null", O_RDONLY);
for (uint8_t i=3; i<100; i++) {
close(i);
}
char argHome[50];
sprintf(argHome,"home:=[%f,%f,%f]",home.lat*1.0e-7,home.lng*1.0e-7,(double)home.alt*1.0e-2);
const char *uav_name = strchr(frame_str, ':');
if (uav_name != NULL) {
uav_name++;
}
int ret = execlp("roslaunch",
"roslaunch",
"last_letter",
"launcher.launch",
"ArduPlane:=true",
"simRate:=500",
"deltaT:=0.002",
argHome,
uav_name,
NULL);
if (ret != 0) {
perror("roslaunch");
}
exit(1);
}
/*
@ -125,8 +110,6 @@ void last_letter::recv_fdm(const struct sitl_input &input)
airspeed = pkt.airspeed;
airspeed_pitot = pkt.airspeed;
// update magnetic field
update_mag_field_bf();
// auto-adjust to last_letter frame rate
uint64_t deltat_us = pkt.timestamp_us - last_timestamp_us;
@ -146,6 +129,10 @@ void last_letter::update(const struct sitl_input &input)
send_servos(input);
recv_fdm(input);
sync_frame_time();
update_position();
// update magnetic field
update_mag_field_bf();
}
} // namespace SITL

2
libraries/SITL/SIM_last_letter.h
View File

@ -41,7 +41,7 @@ public:
}
private:
static const uint16_t fdm_port = 9002;
static const uint16_t fdm_port = 5002;
/*
packet sent to last_letter