增加了部分ins模块的启动

nextpilot · Apr 30, 2024 · 1375894 · 1375894
1 parent 348a54c
commit 1375894
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Showing 5 changed files with 65 additions and 2 deletions.
diff --git a/apps/estimator/attitude_estimator_q/attitude_estimator_q_main.cpp b/apps/estimator/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -569,3 +569,13 @@ Attitude estimator q.
 extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[]) {
     return AttitudeEstimatorQ::main(argc, argv);
 }
+
+MSH_CMD_EXPORT_ALIAS(attitude_estimator_q_main, att_est_q, attitude estimator q);
+
+int attitude_estimator_q_start() {
+    const char *argv[] = {"attitude_estimator_q", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return attitude_estimator_q_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(attitude_estimator_q_start);
diff --git a/apps/estimator/gyro_calibration/GyroCalibration.cpp b/apps/estimator/gyro_calibration/GyroCalibration.cpp
@@ -11,7 +11,6 @@
 #define LOG_TAG "gyro_cali"
 
 #include "GyroCalibration.hpp"
-
 #include <geo/geo.h>
 
 using namespace time_literals;
@@ -307,3 +306,13 @@ Simple online gyroscope calibration.
 extern "C" __EXPORT int gyro_calibration_main(int argc, char *argv[]) {
     return GyroCalibration::main(argc, argv);
 }
+
+MSH_CMD_EXPORT_ALIAS(gyro_calibration_main, gyro_cali, gyro calibration);
+
+int gyro_calibration_start() {
+    const char *argv[] = {"gyro_calibration", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return gyro_calibration_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(gyro_calibration_start);
diff --git a/apps/estimator/local_position_estimator/BlockLocalPositionEstimator.cpp b/apps/estimator/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -1,7 +1,18 @@
+/*****************************************************************
+ *     _   __             __   ____   _  __        __
+ *    / | / /___   _  __ / /_ / __ \ (_)/ /____   / /_
+ *   /  |/ // _ \ | |/_// __// /_/ // // // __ \ / __/
+ *  / /|  //  __/_>  < / /_ / ____// // // /_/ // /_
+ * /_/ |_/ \___//_/|_| \__//_/    /_//_/ \____/ \__/
+ *
+ * Copyright All Reserved © 2015-2024 NextPilot Development Team
+ ******************************************************************/
+
+#define LOG_TAG "local_pos_est"
+
 #include "BlockLocalPositionEstimator.hpp"
 #include <ulog/mavlink_log.h>
 #include <fcntl.h>
-// #include <systemlib/err.h>
 #include <matrix/math.hpp>
 #include <cstdlib>
 
@@ -1029,3 +1040,13 @@ Attitude and position estimator using an Extended Kalman Filter.
 extern "C" __EXPORT int local_position_estimator_main(int argc, char *argv[]) {
     return BlockLocalPositionEstimator::main(argc, argv);
 }
+
+MSH_CMD_EXPORT_ALIAS(local_position_estimator_main, local_pos_est, local position estimator);
+
+int local_position_estimator_start() {
+    const char *argv[] = {"local_position_estimator", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return local_position_estimator_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(local_position_estimator_start);
diff --git a/apps/estimator/local_position_estimator/BlockLocalPositionEstimator.hpp b/apps/estimator/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -1,3 +1,14 @@
+/*****************************************************************
+ *     _   __             __   ____   _  __        __
+ *    / | / /___   _  __ / /_ / __ \ (_)/ /____   / /_
+ *   /  |/ // _ \ | |/_// __// /_/ // // // __ \ / __/
+ *  / /|  //  __/_>  < / /_ / ____// // // /_/ // /_
+ * /_/ |_/ \___//_/|_| \__//_/    /_//_/ \____/ \__/
+ *
+ * Copyright All Reserved © 2015-2024 NextPilot Development Team
+ ******************************************************************/
+
+
 #pragma once
 
 #include <hrtimer.h>

diff --git a/apps/estimator/mag_bias_estimator/MagBiasEstimator.cpp b/apps/estimator/mag_bias_estimator/MagBiasEstimator.cpp
@@ -8,6 +8,8 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
+#define LOG_TAG "mag_bias_est"
+
 #include "MagBiasEstimator.hpp"
 
 using namespace time_literals;
@@ -257,4 +259,14 @@ extern "C" __EXPORT int mag_bias_estimator_main(int argc, char *argv[]) {
     return MagBiasEstimator::main(argc, argv);
 }
 
+MSH_CMD_EXPORT_ALIAS(mag_bias_estimator_main, mag_bias_est, mag bias estimator);
+
+int mag_bias_estimator_start() {
+    const char *argv[] = {"mag_bias_estimator", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return mag_bias_estimator_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(mag_bias_estimator_start);
+
 } // namespace mag_bias_estimator