rcS: removed unnecessary sleeps, minor code style fixes

This commit is contained in:
Anton Babushkin 2014-03-31 10:10:50 +04:00 committed by Julian Oes
parent 0b97dd2b77
commit 2ac0e1fc54
1 changed files with 4 additions and 6 deletions

View File

@ -294,6 +294,7 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]
then
echo "[init] Use FMU as primary output"
@ -317,6 +318,7 @@ then
fi
fi
fi
if [ $OUTPUT_MODE == mkblctrl ]
then
echo "[init] Use MKBLCTRL as primary output"
@ -338,7 +340,8 @@ then
tone_alarm $TUNE_OUT_ERROR
fi
fi
fi
if [ $OUTPUT_MODE == hil ]
then
echo "[init] Use HIL as primary output"
@ -396,34 +399,29 @@ then
#
# MAVLink
#
if [ $MAVLINK_FLAGS == default ]
then
if [ $HIL == yes ]
then
sleep 1
set MAVLINK_FLAGS "-r 10000 -d /dev/ttyACM0"
usleep 5000
else
# Normal mode, use baudrate 57600 (default) and data rate 1000 bytes/s
if [ $TTYS1_BUSY == yes ]
then
# Start MAVLink on ttyS0, because FMU ttyS1 pins configured as something else
set MAVLINK_FLAGS "-r 1000 -d /dev/ttyS0"
usleep 5000
# Exit from nsh to free port for mavlink
set EXIT_ON_END yes
else
# Start MAVLink on default port: ttyS1
set MAVLINK_FLAGS "-r 1000"
usleep 5000
fi
fi
fi
mavlink start $MAVLINK_FLAGS
usleep 5000
#
# Start the datamanager