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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 22:33:06 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-29 22:33:06 +0200 |
commit | 676daf7c46a2458cb68aacf7b15eca3d5932c635 (patch) | |
tree | 72cae10ff62d3cdc2b9e229669037d3aac44409e /apps | |
parent | 7cd89520cc8846e5ca00f251311e6c4a50b1f7e5 (diff) | |
download | px4-firmware-676daf7c46a2458cb68aacf7b15eca3d5932c635.tar.gz px4-firmware-676daf7c46a2458cb68aacf7b15eca3d5932c635.tar.bz2 px4-firmware-676daf7c46a2458cb68aacf7b15eca3d5932c635.zip |
minor changes for default options, closing properly all subscriptions in multirotor att control now on exit
Diffstat (limited to 'apps')
-rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 14 | ||||
-rw-r--r-- | apps/mavlink/mavlink.c | 2 | ||||
-rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 1 |
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); |