Position Estimator App Stops NSH

[jgoppert]

I"m working on sensor level HIL right now. Pretty far along.

When I start the position estimator app it waits for gps which is fine. It gets the mavlink hil packet which is publishing the vehicle_global_position_s. Then it proceeds. However, the whole time NSH is blocked and you never get the terminal back even after it is running properly.

[LorenzMeier]

The position estimator is in a random shape, it may well be that its not doing what it's supposed to be. The current HIL directly injects the estimated positions and the pos estimator is not in active use.

[jgoppert]

For my research I'd really like to get full sensor level hil working. I have it pretty close here: https://github.com/jgoppert/Firmware/tree/sensor_hil

The position app is sending gps correctly. My current issue is the attitude estimation. I also have not currently finished implementing the simulated mag measurements.

I'll see if I can fix this bug with nsh being blocked on my branch.

Also looks like I need it to publish global location, it is only publishing local currently

[LorenzMeier]

The answers is extremely simple, if you actually look at the code: It is not a deamon, so you need to start it like any non-deamon app with the ampersand. Its not a bug, but feel free to add the missing deamon routines to turn it into one.

[jgoppert]

Ahh, thanks, will do.

[LorenzMeier]

https://pixhawk.ethz.ch/px4/dev/daemon