diff options
Diffstat (limited to 'src/systemcmds/config/config.c')
| -rw-r--r-- | src/systemcmds/config/config.c | 45 |
1 files changed, 31 insertions, 14 deletions
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c index 476015f3e..4a97d328c 100644 --- a/src/systemcmds/config/config.c +++ b/src/systemcmds/config/config.c @@ -1,8 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * Author: Julian Oes <joes@student.ethz.ch> + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -94,7 +92,6 @@ do_device(int argc, char *argv[]) } int fd; - int ret; fd = open(argv[0], 0); @@ -104,6 +101,8 @@ do_device(int argc, char *argv[]) } else { + int ret; + if (argc == 2 && !strcmp(argv[1], "block")) { /* disable the device publications */ @@ -121,7 +120,7 @@ do_device(int argc, char *argv[]) errx(ret,"uORB publications could not be unblocked"); } else { - errx("no valid command: %s", argv[1]); + errx(1, "no valid command: %s", argv[1]); } } @@ -132,7 +131,6 @@ static void do_gyro(int argc, char *argv[]) { int fd; - int ret; fd = open(GYRO_DEVICE_PATH, 0); @@ -142,6 +140,8 @@ do_gyro(int argc, char *argv[]) } else { + int ret; + if (argc == 2 && !strcmp(argv[0], "sampling")) { /* set the gyro internal sampling rate up to at least i Hz */ @@ -173,8 +173,13 @@ do_gyro(int argc, char *argv[]) warnx("gyro self test FAILED! Check calibration:"); struct gyro_scale scale; ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + + if (ret) { + err(1, "failed getting gyro scale"); + } + + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale); } else { warnx("gyro calibration and self test OK"); } @@ -199,7 +204,6 @@ static void do_mag(int argc, char *argv[]) { int fd; - int ret; fd = open(MAG_DEVICE_PATH, 0); @@ -209,6 +213,8 @@ do_mag(int argc, char *argv[]) } else { + int ret; + if (argc == 2 && !strcmp(argv[0], "sampling")) { /* set the mag internal sampling rate up to at least i Hz */ @@ -240,8 +246,13 @@ do_mag(int argc, char *argv[]) warnx("mag self test FAILED! Check calibration:"); struct mag_scale scale; ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + + if (ret) { + err(ret, "failed getting mag scale"); + } + + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale); } else { warnx("mag calibration and self test OK"); } @@ -266,7 +277,6 @@ static void do_accel(int argc, char *argv[]) { int fd; - int ret; fd = open(ACCEL_DEVICE_PATH, 0); @@ -276,6 +286,8 @@ do_accel(int argc, char *argv[]) } else { + int ret; + if (argc == 2 && !strcmp(argv[0], "sampling")) { /* set the accel internal sampling rate up to at least i Hz */ @@ -307,8 +319,13 @@ do_accel(int argc, char *argv[]) warnx("accel self test FAILED! Check calibration:"); struct accel_scale scale; ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale); - warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_offset, scale.y_offset, scale.z_offset); - warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", scale.x_scale, scale.y_scale, scale.z_scale); + + if (ret) { + err(ret, "failed getting accel scale"); + } + + warnx("offsets: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_offset, (double)scale.y_offset, (double)scale.z_offset); + warnx("scale: X: % 9.6f Y: % 9.6f Z: % 9.6f", (double)scale.x_scale, (double)scale.y_scale, (double)scale.z_scale); } else { warnx("accel calibration and self test OK"); } |