Mirrors_Framework/PX4-Autopilot
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use <err.h> more consistently in the fmu driver.

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This commit is contained in:
px4dev
2012-12-18 00:29:22 -08:00
parent 6d0bea0298
commit b8044d9786
1 changed files with 15 additions and 17 deletions
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apps/drivers/px4fmu/fmu.cpp
+15 -17
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@@ -60,6 +60,7 @@
#include <drivers/boards/px4fmu/px4fmu_internal.h> #include <drivers/boards/px4fmu/px4fmu_internal.h>
#include <systemlib/systemlib.h> #include <systemlib/systemlib.h>
#include <systemlib/err.h>
#include <systemlib/mixer/mixer.h> #include <systemlib/mixer/mixer.h>
#include <drivers/drv_mixer.h> #include <drivers/drv_mixer.h>
@@ -800,13 +801,14 @@ test(void)
fd = open(PWM_OUTPUT_DEVICE_PATH, 0); fd = open(PWM_OUTPUT_DEVICE_PATH, 0);
if (fd < 0) { if (fd < 0)
puts("open fail"); errx(1, "open fail");
exit(1);
}
ioctl(fd, PWM_SERVO_ARM, 0); if (ioctl(fd, PWM_SERVO_ARM, 0) < 0) err(1, "servo arm failed");
ioctl(fd, PWM_SERVO_SET(0), 1000); if (ioctl(fd, PWM_SERVO_SET(0), 1000) < 0) err(1, "servo 1 set failed");
if (ioctl(fd, PWM_SERVO_SET(1), 1200) < 0) err(1, "servo 2 set failed");
if (ioctl(fd, PWM_SERVO_SET(2), 1400) < 0) err(1, "servo 3 set failed");
if (ioctl(fd, PWM_SERVO_SET(3), 1600) < 0) err(1, "servo 4 set failed");
close(fd); close(fd);
@@ -816,10 +818,8 @@ test(void)
void void
fake(int argc, char *argv[]) fake(int argc, char *argv[])
{ {
if (argc < 5) { if (argc < 5)
puts("fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)"); errx(1, "fmu fake <roll> <pitch> <yaw> <thrust> (values -100 .. 100)");
exit(1);
}
actuator_controls_s ac; actuator_controls_s ac;
@@ -833,10 +833,8 @@ fake(int argc, char *argv[])
orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac); orb_advert_t handle = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &ac);
if (handle < 0) { if (handle < 0)
puts("advertise failed"); errx(1, "advertise failed");
exit(1);
}
exit(0); exit(0);
} }
@@ -891,11 +889,11 @@ fmu_main(int argc, char *argv[])
if (argc > i + 1) { if (argc > i + 1) {
pwm_update_rate_in_hz = atoi(argv[i + 1]); pwm_update_rate_in_hz = atoi(argv[i + 1]);
} else { } else {
fprintf(stderr, "missing argument for pwm update rate (-u)\n"); errx(1, "missing argument for pwm update rate (-u)");
return 1; return 1;
} }
} else { } else {
fprintf(stderr, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio\n"); errx(1, "pwm update rate currently only supported for mode_pwm, mode_pwm_gpio");
} }
} }
} }
@@ -915,5 +913,5 @@ fmu_main(int argc, char *argv[])
fprintf(stderr, "FMU: unrecognised command, try:\n"); fprintf(stderr, "FMU: unrecognised command, try:\n");
fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n"); fprintf(stderr, " mode_gpio, mode_serial, mode_pwm [-u pwm_update_rate_in_hz], mode_gpio_serial, mode_pwm_serial, mode_pwm_gpio\n");
return -EINVAL; exit(1);
} }