From 1da7fc2549a9ef18c81de8cd39b5743a8a28eb0b Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:09:13 +0100 Subject: [PATCH 1/3] Improved commandline handling --- apps/mavlink/mavlink.c | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 9b2cfcbba8..9c39b2714f 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -714,7 +714,7 @@ int mavlink_thread_main(int argc, char *argv[]) static void usage() { - fprintf(stderr, "usage: mavlink start [-d ] [-b ] [-e] [-o]\n" + fprintf(stderr, "usage: mavlink start [-d ] [-b ]\n" " mavlink stop\n" " mavlink status\n"); exit(1); @@ -723,8 +723,10 @@ usage() int mavlink_main(int argc, char *argv[]) { - if (argc < 1) - errx(1, "missing command"); + if (argc < 2) { + warnx("missing command"); + usage(); + } if (!strcmp(argv[1], "start")) { @@ -759,6 +761,9 @@ int mavlink_main(int argc, char *argv[]) } } - errx(1, "unrecognized command"); + warnx("unrecognized command"); + usage(); + /* not getting here */ + return 0; } From 35fae44527de3b92290c535f9c44fb5495f6322f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:10:03 +0100 Subject: [PATCH 2/3] Nulling controller parameters for additional safety --- apps/multirotor_att_control/multirotor_rate_control.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/multirotor_att_control/multirotor_rate_control.c b/apps/multirotor_att_control/multirotor_rate_control.c index d5e20312b5..bbaec30330 100644 --- a/apps/multirotor_att_control/multirotor_rate_control.c +++ b/apps/multirotor_att_control/multirotor_rate_control.c @@ -55,14 +55,14 @@ #include #include -PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.1f); /* same on Flamewheel */ +PARAM_DEFINE_FLOAT(MC_YAWRATE_P, 0.0f); /* same on Flamewheel */ PARAM_DEFINE_FLOAT(MC_YAWRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_YAWRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_AWU, 0.0f); //PARAM_DEFINE_FLOAT(MC_YAWRATE_LIM, 1.0f); -PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.2f); /* 0.15 F405 Flamewheel */ -PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.05f); +PARAM_DEFINE_FLOAT(MC_ATTRATE_P, 0.0f); /* 0.15 F405 Flamewheel */ +PARAM_DEFINE_FLOAT(MC_ATTRATE_D, 0.0f); PARAM_DEFINE_FLOAT(MC_ATTRATE_I, 0.0f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_AWU, 0.05f); //PARAM_DEFINE_FLOAT(MC_ATTRATE_LIM, 1.0f); /**< roughly < 500 deg/s limit */ From ce01aff241698ad1e1b3576782acee55f64bc54c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 8 Nov 2012 18:11:03 +0100 Subject: [PATCH 3/3] Set mag scale to 1 as default --- apps/sensors/sensor_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c index fd8a6602ac..cc74ae705d 100644 --- a/apps/sensors/sensor_params.c +++ b/apps/sensors/sensor_params.c @@ -52,9 +52,9 @@ PARAM_DEFINE_FLOAT(SENS_MAG_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_YOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_MAG_ZOFF, 0.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 0.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 0.0f); -PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 0.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_XSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_YSCALE, 1.0f); +PARAM_DEFINE_FLOAT(SENS_MAG_ZSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_XOFF, 0.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YOFF, 0.0f);