px4io test and fmu test now work over USB as well

1 files changed, 10 insertions, 7 deletions

diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 6d4019f24..b1dd55dd7 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -1096,10 +1096,11 @@ fmu_start(void)
 void
 test(void)
 {
-	int	fd;
+	int	 fd;
         unsigned servo_count = 0;
 	unsigned pwm_value = 1000;
 	int	 direction = 1;
+	int	 ret;
         
 	fd = open(PX4FMU_DEVICE_PATH, O_RDWR);
 
@@ -1114,9 +1115,9 @@ test(void)
 
 	warnx("Testing %u servos", (unsigned)servo_count);
 
-	int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
-	if (!console)
-		err(1, "failed opening console");
+	struct pollfd fds;
+	fds.fd = 0; /* stdin */
+	fds.events = POLLIN;
 
 	warnx("Press CTRL-C or 'c' to abort.");
 
@@ -1166,15 +1167,17 @@ test(void)
 
 		/* Check if user wants to quit */
 		char c;
-		if (read(console, &c, 1) == 1) {
-			if (c == 0x03 || c == 0x63) {
+		ret = poll(&fds, 1, 0);
+		if (ret > 0) {
+
+			read(0, &c, 1);
+			if (c == 0x03 || c == 0x63 || c == 'q') {
 				warnx("User abort\n");
                                 break;
 			}
 		}
 	}
 
-        close(console);
 	close(fd);
 
 	exit(0);