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Re-enable INAV verbose options

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Lorenz Meier
2015-06-28 16:29:46 +02:00
parent 99d59971ac
commit 5523b1ee4f
1 changed files with 19 additions and 19 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+19 -19
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@@ -1071,25 +1071,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v);
}
// if (inav_verbose_mode) {
// /* print updates rate */
// if (t > updates_counter_start + updates_counter_len) {
// float updates_dt = (t - updates_counter_start) * 0.000001f;
// warnx(
// "updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
// (double)(accel_updates / updates_dt),
// (double)(baro_updates / updates_dt),
// (double)(gps_updates / updates_dt),
// (double)(attitude_updates / updates_dt),
// (double)(flow_updates / updates_dt));
// updates_counter_start = t;
// accel_updates = 0;
// baro_updates = 0;
// gps_updates = 0;
// attitude_updates = 0;
// flow_updates = 0;
// }
// }
if (inav_verbose_mode) {
/* print updates rate */
if (t > updates_counter_start + updates_counter_len) {
float updates_dt = (t - updates_counter_start) * 0.000001f;
warnx(
"updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
(double)(accel_updates / updates_dt),
(double)(baro_updates / updates_dt),
(double)(gps_updates / updates_dt),
(double)(attitude_updates / updates_dt),
(double)(flow_updates / updates_dt));
updates_counter_start = t;
accel_updates = 0;
baro_updates = 0;
gps_updates = 0;
attitude_updates = 0;
flow_updates = 0;
}
}
if (t > pub_last + PUB_INTERVAL) {
pub_last = t;