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Cleanup of lots of debugging printfs

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This commit is contained in:
Julian Oes
2012-09-27 17:08:29 +02:00
parent 7f15309892
commit 2c5c314105
6 changed files with 2 additions and 31 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
-6
View File
@@ -236,7 +236,6 @@ mc_thread_main(int argc, char *argv[])
/* set yaw rate */
rates_sp.yaw = manual.yaw;
att_sp.thrust = manual.throttle;
//printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",att_sp.roll_body, att_sp.pitch_body, att_sp.yaw_body, att_sp.thrust);
att_sp.timestamp = hrt_absolute_time();
/* STEP 2: publish the result to the vehicle actuators */
orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp);
@@ -278,15 +277,10 @@ mc_thread_main(int argc, char *argv[])
/* run attitude controller */
if (state.flag_control_attitude_enabled && !state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, NULL, &actuators);
// printf("publish actuator\n");
// printf("MAC_PUB: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators.control[0], actuators.control[1], actuators.control[2], actuators.control[3]);
orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators);
} else if (state.flag_control_attitude_enabled && state.flag_control_rates_enabled) {
multirotor_control_attitude(&att_sp, &att, &rates_sp, NULL);
orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp);
// printf("publish attitude\n");
}
apps/multirotor_att_control/multirotor_attitude_control.c
-7
View File
@@ -312,10 +312,6 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
actuators->control[3] = motor_thrust;
}
// if(motor_skip_counter%20 == 0)
// printf("MAC: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuators->control[0], actuators->control[1], actuators->control[2], actuators->control[3]);
// XXX change yaw rate to yaw pos controller
if (rates_sp) {
rates_sp->roll = roll_control;
@@ -324,8 +320,5 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
rates_sp->thrust = motor_thrust;
}
// if(motor_skip_counter%20 == 0)
// printf("Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",rates_sp->roll, rates_sp->pitch, rates_sp->yaw, rates_sp->thrust);
motor_skip_counter++;
}