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px4-firmware
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ARDrone driver: be less chatty

This commit is contained in:
Lorenz Meier 2014-11-15 16:40:42 +01:00
parent e2c0ac3f70
commit 6f71173f8c
2 changed files with 15 additions and 23 deletions
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36
src/drivers/ardrone_interface/ardrone_interface.c
View File

@ -89,8 +89,8 @@ static void
usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr, "usage: ardrone_interface {start|stop|status} [-d <UART>]\n\n");
warnx("%s\n", reason);
warnx("usage: {start|stop|status} [-d <UART>]\n\n");
exit(1);
}
@ -110,7 +110,7 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("ardrone_interface already running\n");
warnx("already running\n");
/* this is not an error */
exit(0);
}
@ -132,9 +132,9 @@ int ardrone_interface_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tardrone_interface is running\n");
warnx("running");
} else {
printf("\tardrone_interface not started\n");
warnx("not started");
}
exit(0);
}
@ -158,7 +158,7 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
warnx("ERR: TCGETATTR %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
@ -171,14 +171,14 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
warnx("ERR: cfsetispeed %s: %d", uart_name, termios_state);
close(uart);
return -1;
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
warnx("ERR: tcsetattr: %s", uart_name);
close(uart);
return -1;
}
@ -192,9 +192,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
char *device = "/dev/ttyS1";
/* welcome user */
printf("[ardrone_interface] Control started, taking over motors\n");
/* File descriptors */
int gpios;
@ -237,7 +234,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
struct termios uart_config_original;
if (motor_test_mode) {
printf("[ardrone_interface] Motor test mode enabled, setting 10 %% thrust.\n");
warnx("setting 10 %% thrust.\n");
}
/* Led animation */
@ -255,9 +252,6 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
printf("[ardrone_interface] Motors initialized - ready.\n");
fflush(stdout);
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
ardrone_write = ardrone_open_uart(device, &uart_config_original);
@ -265,7 +259,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("No UART, exiting.");
thread_running = false;
exit(ERROR);
}
@ -273,7 +267,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@ -294,7 +288,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
gpios = ar_multiplexing_init();
if (ardrone_write < 0) {
fprintf(stderr, "[ardrone_interface] Failed opening AR.Drone UART, exiting.\n");
warnx("write fail");
thread_running = false;
exit(ERROR);
}
@ -302,7 +296,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* initialize motors */
if (OK != ar_init_motors(ardrone_write, gpios)) {
close(ardrone_write);
fprintf(stderr, "[ardrone_interface] Failed initializing AR.Drone motors, exiting.\n");
warnx("motor init fail");
thread_running = false;
exit(ERROR);
}
@ -378,11 +372,9 @@ int ardrone_interface_thread_main(int argc, char *argv[])
int termios_state;
if ((termios_state = tcsetattr(ardrone_write, TCSANOW, &uart_config_original)) < 0) {
fprintf(stderr, "[ardrone_interface] ERROR setting baudrate / termios config for (tcsetattr)\n");
warnx("ERR: tcsetattr");
}
printf("[ardrone_interface] Restored original UART config, exiting..\n");
/* close uarts */
close(ardrone_write);
ar_multiplexing_deinit(gpios);

2
src/drivers/ardrone_interface/ardrone_motor_control.c
View File

@ -301,7 +301,7 @@ int ar_init_motors(int ardrone_uart, int gpios)
ardrone_write_motor_commands(ardrone_uart, 0, 0, 0, 0);
if (errcounter != 0) {
fprintf(stderr, "[ardrone_interface] init sequence incomplete, failed %d times", -errcounter);
warnx("Failed %d times", -errcounter);
fflush(stdout);
}
return errcounter;