working with getpid.c

groundStation/src/cli/cli_getpid.c

@@ -16,10 +16,10 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
  		{"roll",	no_argument,	&getRoll,	1},
  		{"pitch",   no_argument,   	&getPitch, 	1},
  		{"yaw",   no_argument,   	&getYaw, 	1},
- 		{"rollv",   no_argument,   	&getRollV, 	1},
- 		{"pitchv",   no_argument,   &getPitchV, 1},
+ 		{"rollv",   no_argument,   	&getYawV, 	1},
+ 		{"pitchv",   no_argument,   	&getYawV, 	1},
  		{"yawv",   no_argument,   	&getYawV, 	1},
- 		{"height",   no_argument,   &getHeight,	1},
+ 		{"height",   no_argument,   	&getHeight,	1},
  		{"lat",   no_argument,   	&getLat, 	1},
  		{"long",   no_argument,   	&getLong, 	1},
  		{"help",	no_argument,	&needHelp,	1},
@@ -64,11 +64,17 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 	
 	int result;
 	if(getAll) {
-		for(int i = 0; i < PID_NUM_PIDS; ++i) {
-			pid_data.controller = i;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
+		pid_data.controller = PID_ROLL;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
+		}
+		pid_data.controller = PID_PITCH;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
+		}
+		pid_data.controller = PID_YAW;
+		if ((result = getValues(conn, &pid_data))) {
+			return result;
 		}
 	} else {
 		if(getPitch) {
@@ -89,43 +95,6 @@ int cli_getpid(struct backend_conn * conn,	int argc, char **argv) {
 				return result;
 			}
 		}
-		if(getPitchV) {
-			pid_data.controller = PID_PITCH_RATE;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-		if(getRollV) {
-			pid_data.controller = PID_ROLL_RATE;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-		if(getYawV) {
-			pid_data.controller = PID_YAW_RATE;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-		if(getHeight) {
-			pid_data.controller = PID_HEIGHT;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-		if(getLat) {
-			pid_data.controller = PID_LAT;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-		if(getLong) {
-			pid_data.controller = PID_LONG;
-			if ((result = getValues(conn, &pid_data))) {
-				return result;
-			}
-		}
-
 	}
 
 	return 0;
@@ -136,6 +105,8 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 		return 1;
 	}
 
+	return 0;
+
 	switch(pid_data->controller) {
 		case PID_PITCH :
 			printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
@@ -149,30 +120,6 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
 			printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
 				pid_data->p, pid_data->i, pid_data->d);
 			break;
-		case PID_PITCH_RATE :
-			printf("Pitch Rate Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
-		case PID_ROLL_RATE :
-			printf("Roll Rate Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
-		case PID_YAW_RATE :
-			printf("Yaw Rate Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
-		case PID_HEIGHT :
-			printf("Height Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
-		case PID_LAT :
-			printf("Latitude Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
-		case PID_LONG :
-			printf("Longitude Constants: P = %f\tI = %f\tD = %f\n",
-				pid_data->p, pid_data->i, pid_data->d);
-			break;
 		default :
 			break;
 	}