From bebbe835b6a13559afafe632f14406882b735ffb Mon Sep 17 00:00:00 2001
From: burneykb <burneykb@iastate.edu>
Date: Mon, 23 Jan 2017 14:00:29 -0600
Subject: [PATCH] working with getpid.c
---
groundStation/src/cli/cli_getpid.c | 85 ++++++------------------------
1 file changed, 16 insertions(+), 69 deletions(-)
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 7eb2fb6a8..c57d42a52 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/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;
}
--
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