From 660b0ff8218888afd1a77837f4f9960e6635ccce Mon Sep 17 00:00:00 2001
From: Kris Burney <burneykb@iastate.edu>
Date: Sat, 3 Dec 2016 23:23:06 -0600
Subject: [PATCH] Added help message to setpid
---
groundStation/src/cli/cli_monitor.c | 1 +
groundStation/src/cli/cli_setpid.c | 19 ++++++++++++-------
2 files changed, 13 insertions(+), 7 deletions(-)
diff --git a/groundStation/src/cli/cli_monitor.c b/groundStation/src/cli/cli_monitor.c
index f26dfb963..2703b62ee 100644
--- a/groundStation/src/cli/cli_monitor.c
+++ b/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");
diff --git a/groundStation/src/cli/cli_setpid.c b/groundStation/src/cli/cli_setpid.c
index f2e1a7f98..cbe6f9332 100644
--- a/groundStation/src/cli/cli_setpid.c
+++ b/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;
}
--
GitLab