[multithreading] kill unnessesary program on bebop

paparazzi · Jun 27, 2018 · ed6a8b4 · ed6a8b4
1 parent ac76b90
commit ed6a8b4
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/sw/airborne/boards/bebop/board.c b/sw/airborne/boards/bebop/board.c
@@ -121,6 +121,9 @@ void board_init(void)
   int ret __attribute__((unused)) = system("killall -q -15 DragonStarter.sh");
   usleep(50000); /* Give DragonStarter 50ms time to end on a busy system */
   kill_gracefull("dragon-prog");
+#if PRIMARY_GPS == GPS_DATALINK
+  kill_gracefull("ephemerisd");
+#endif
 }
 
 void board_init2(void)

diff --git a/sw/airborne/firmwares/rotorcraft/main.c b/sw/airborne/firmwares/rotorcraft/main.c
@@ -36,6 +36,8 @@
 
 #include "mcu_periph/sys_time.h"
 
+#define POLLING_PERIOD (500000/PERIODIC_FREQUENCY)
+#include <stdio.h>
 #ifndef SITL
 int main(void)
 {
@@ -58,8 +60,8 @@ int main(void)
 
     /* sleep remaining time to limit to 1kHz */
     t_diff = get_sys_time_usec() - t_begin;
-    if (t_diff < 1000) {
-      sys_time_usleep(1000 - t_diff);
+    if (t_diff < POLLING_PERIOD) {
+      sys_time_usleep(POLLING_PERIOD - t_diff);
     }
   }
 #else