minor changes for default options, closing properly all subscriptions in multirotor att control now on exit

3 files changed, 8 insertions, 9 deletions

diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index 81ea809f9..e96d343fc 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -43,6 +43,7 @@
 #include <unistd.h>
 #include <drivers/drv_gpio.h>
 #include <arch/board/up_hrt.h>
+#include <systemlib/err.h>
 
 #include "ardrone_motor_control.h"
 
@@ -106,22 +107,19 @@ int ar_multiplexing_init()
 	fd = open(GPIO_DEVICE_PATH, 0);
 
 	if (fd < 0) {
-		printf("GPIO: open fail\n");
+		warn("GPIO: open fail");
 		return fd;
 	}
 
 	/* deactivate all outputs */
-	int ret = 0;
-	ret += ioctl(fd, GPIO_SET, motor_gpios);
-
-	if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
-		printf("GPIO: output set fail\n");
+	if (ioctl(fd, GPIO_SET, motor_gpios)) {
+		warn("GPIO: clearing pins fail");
 		close(fd);
 		return -1;
 	}
 
-	if (ret < 0) {
-		printf("GPIO: clearing pins fail\n");
+	if (ioctl(fd, GPIO_SET_OUTPUT, motor_gpios) != 0) {
+		warn("GPIO: output set fail");
 		close(fd);
 		return -1;
 	}
diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 4aac6735c..674efe4e7 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -1374,7 +1374,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);
 
 	/* default values for arguments */
-	char *uart_name = "/dev/ttyS0";
+	char *uart_name = "/dev/ttyS1";
 	int baudrate = 57600;
 
 	/* read program arguments */
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 9a23e8290..9fbe4c3ca 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -191,6 +191,7 @@ mc_thread_main(int argc, char *argv[])
 	close(manual_sub);
 	close(actuator_pub);
 	close(armed_pub);
+	close(att_sp_pub);
 
 	perf_print_counter(mc_loop_perf);
 	perf_free(mc_loop_perf);