From 9ef9185d1dc0e43ecc9913b79196c2bd6d24d547 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Wed, 26 Aug 2015 16:17:07 +0200
Subject: [PATCH] Commander: Fix commandline handling

---
 src/modules/commander/commander.cpp | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index a3996bf9e2..397083a3b5 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -297,7 +297,7 @@ int commander_main(int argc, char *argv[])
 					     SCHED_PRIORITY_MAX - 40,
 					     3400,
 					     commander_thread_main,
-					     (argv) ? (char * const *)&argv[2] : (char * const *)NULL);
+					     (char * const *)&argv[0]);
 
 		unsigned constexpr max_wait_us = 1000000;
 		unsigned constexpr max_wait_steps = 2000;
@@ -362,7 +362,7 @@ int commander_main(int argc, char *argv[])
 
 			if (calib_ret) {
 				warnx("calibration failed, exiting.");
-				return 0;
+				return 1;
 			} else {
 				return 0;
 			}
@@ -391,7 +391,7 @@ int commander_main(int argc, char *argv[])
 		int mavlink_fd_local = px4_open(MAVLINK_LOG_DEVICE, 0);
 		arm_disarm(false, mavlink_fd_local, "command line");
 		px4_close(mavlink_fd_local);
-                return 0;
+		return 0;
 	}
 
 	usage("unrecognized command");
@@ -878,11 +878,17 @@ int commander_thread_main(int argc, char *argv[])
 	bool was_armed = false;
 
 	bool startup_in_hil = false;
-	if(argc>0) {
-		if ( strcmp(argv[0],"-hil")==0) {
+
+#ifdef __PX4_NUTTX
+	/* NuttX indicates 3 arguments when only 2 are present */
+	argc -= 1;
+#endif
+
+	if (argc > 2) {
+		if (!strcmp(argv[2],"-hil")) {
 			startup_in_hil = true;
 		} else {
-			PX4_ERR("Argument %s not supported.",argv[0]);
+			PX4_ERR("Argument %s not supported.", argv[2]);
 			PX4_ERR("COMMANDER NOT STARTED");
 			thread_should_exit = true;
 		}
@@ -2238,7 +2244,6 @@ int commander_thread_main(int argc, char *argv[])
 			arm_tune_played = false;
 		}
 
-		//fflush(stdout);
 		counter++;
 
 		int blink_state = blink_msg_state();