Added help message to setpid

groundStation/src/cli/cli_monitor.c

@@ -51,6 +51,7 @@ int cli_monitor(struct backend_conn * conn,	int argc, char **argv) {
 	}
 	
 	if (needHelp) {
+		printf("Monitor provides real time information about the quad. Including positional data as well as controller constants\n\n");
 		printf("Usage Syntax : \n\t./Cli monitor [options...]\n");
 		printf("Symlink Usage Syntax : \n\t./monitor [options...]\n\n");
 		printf("Available options include the following\n");

groundStation/src/cli/cli_setpid.c

@@ -13,7 +13,7 @@ int cli_setpid(struct backend_conn * conn,	int argc, char **argv) {
 	struct frontend_pid_data pid_data;
 	static int mask;
 	static float pval = 0, ival = 0, dval = 0;
-	static needHelp = 0;
+	static int needHelp = 0;
 	static struct option long_options[] = {
  		/* These options don’t set a flag. We distinguish them by their indices. */
  		{"roll",	no_argument,	&setRoll,	1},
@@ -59,12 +59,17 @@ int cli_setpid(struct backend_conn * conn,	int argc, char **argv) {
 	}
 
 	if (needHelp) {
-		printf("Usage Syntax : \n\t./Cli monitor [options...]\n");
-		printf("Symlink Usage Syntax : \n\t./monitor [options...]\n\n");
-		printf("Available options include the following\n");
-		printf("\t[-f] : Run monitor continuously until you kill the program. (ctrl-C)\n");
-		printf("\t[-c] 'count' : Sets the number of times the monitor will refresh\n");
-		printf("\t[-r] 'rate' : Sets the 'rate' at which the monitor will refresh per second\n");
+		printf("Setpid sets the p, i , or d constant values of any single controller\n");
+		printf("Usage Syntax : \n\t./Cli setpid controller [options...]\n");
+		printf("Symlink Usage Syntax : \n\t./setpid controller [options...]\n\n");
+		printf("Available 'controllers' include the following\n");
+		printf("\t[--pitch] : Pitch\n\t[--roll] : Roll\n\t[--yaw] : Yaw\n");
+		printf("\t[--pitchv] : Pitch Velocity\n\t[--rollv] : Roll Velocity\n\t[--yawv] : Yaw Velocity\n");
+		printf("\t[--height] : Z\n\t[--lat] : X\n\t[--long] : Y\n\n");
+		printf("Available 'controller' options include the following\n");
+		printf("\t[-p] 'val' : Sets the p constant of the 'controller' to 'val'\n");
+		printf("\t[-i] 'val' : Sets the i constant of the 'controller' to 'val'\n");
+		printf("\t[-d] 'val' : Sets the d constant of the 'controller' to 'val'\n");
 		return 0;
 	}