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Sensors messaging cleanup

This commit is contained in:
Lorenz Meier 2014-02-02 15:17:49 +01:00
parent 020e7dcae3
commit 150bac4b51
1 changed files with 20 additions and 19 deletions
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39
src/modules/sensors/sensors.cpp
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@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.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
@ -636,41 +635,43 @@ Sensors::parameters_update()
if (!rc_valid)
warnx("WARNING WARNING WARNING\n\nRC CALIBRATION NOT SANE!\n\n");
const char *paramerr = "FAIL PARM LOAD";
/* channel mapping */
if (param_get(_parameter_handles.rc_map_roll, &(_parameters.rc_map_roll)) != OK) {
warnx("Failed getting roll chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_pitch, &(_parameters.rc_map_pitch)) != OK) {
warnx("Failed getting pitch chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_yaw, &(_parameters.rc_map_yaw)) != OK) {
warnx("Failed getting yaw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_throttle, &(_parameters.rc_map_throttle)) != OK) {
warnx("Failed getting throttle chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mode_sw, &(_parameters.rc_map_mode_sw)) != OK) {
warnx("Failed getting mode sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_return_sw, &(_parameters.rc_map_return_sw)) != OK) {
warnx("Failed getting return sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_assisted_sw, &(_parameters.rc_map_assisted_sw)) != OK) {
warnx("Failed getting assisted sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_mission_sw, &(_parameters.rc_map_mission_sw)) != OK) {
warnx("Failed getting mission sw chan index");
warnx(paramerr);
}
if (param_get(_parameter_handles.rc_map_flaps, &(_parameters.rc_map_flaps)) != OK) {
warnx("Failed getting flaps chan index");
warnx(paramerr);
}
// if (param_get(_parameter_handles.rc_map_offboard_ctrl_mode_sw, &(_parameters.rc_map_offboard_ctrl_mode_sw)) != OK) {
@ -742,12 +743,12 @@ Sensors::parameters_update()
/* scaling of ADC ticks to battery voltage */
if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) {
warnx("Failed updating voltage scaling param");
warnx(paramerr);
}
/* scaling of ADC ticks to battery current */
if (param_get(_parameter_handles.battery_current_scaling, &(_parameters.battery_current_scaling)) != OK) {
warnx("Failed updating current scaling param");
warnx(paramerr);
}
param_get(_parameter_handles.board_rotation, &(_parameters.board_rotation));
@ -1650,17 +1651,17 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (sensors::g_sensors != nullptr)
errx(0, "sensors task already running");
errx(0, "already running");
sensors::g_sensors = new Sensors;
if (sensors::g_sensors == nullptr)
errx(1, "sensors task alloc failed");
errx(1, "alloc failed");
if (OK != sensors::g_sensors->start()) {
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
err(1, "sensors task start failed");
err(1, "start failed");
}
exit(0);
@ -1668,7 +1669,7 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "stop")) {
if (sensors::g_sensors == nullptr)
errx(1, "sensors task not running");
errx(1, "not running");
delete sensors::g_sensors;
sensors::g_sensors = nullptr;
@ -1677,10 +1678,10 @@ int sensors_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (sensors::g_sensors) {
errx(0, "task is running");
errx(0, "is running");
} else {
errx(1, "task is not running");
errx(1, "not running");
}
}