diff --git a/src/drivers/barometer/ms5611/ms5611.cpp b/src/drivers/barometer/ms5611/ms5611.cpp
index a5285e9b6d..bcc861d46d 100644
--- a/src/drivers/barometer/ms5611/ms5611.cpp
+++ b/src/drivers/barometer/ms5611/ms5611.cpp
@@ -50,7 +50,6 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <getopt.h>
 
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
@@ -1198,10 +1197,15 @@ ms5611_main(int argc, char *argv[])
 
 		default:
 			ms5611::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
+	if (myoptind >= argc) {
+		ms5611::usage();
+		return -1;
+	}
+
 	const char *verb = argv[myoptind];
 
 	/*
@@ -1232,5 +1236,6 @@ ms5611_main(int argc, char *argv[])
 		ms5611::info();
 	}
 
-	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	PX4_ERR("unrecognised command, try 'start', 'test', 'reset' or 'info'");
+	return -1;
 }