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remove debug output

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This commit is contained in:
Alessandro Simovic
2023-04-03 14:56:05 +02:00
parent 7801806b1c
commit 59c17152a1
1 changed files with 0 additions and 11 deletions
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src/modules/flight_mode_manager/tasks/PrecisionLanding/FlightTaskPrecisionLanding.cpp
-11
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@@ -180,7 +180,6 @@ void FlightTaskPrecisionLanding::check_state_transitions()
{
switch (_precland_state) {
case PRECLAND_STATE::AUTORTL_CLIMB:
PX4_INFO("AUTORTL_CLIMB");
// transition condition
// Wait for drone to reach z position setpoint or be higher
if (_position(2) <= _position_setpoint(2) + _param_nav_mc_alt_rad.get()) {
@@ -191,8 +190,6 @@ void FlightTaskPrecisionLanding::check_state_transitions()
break;
case PRECLAND_STATE::AUTORTL_APPROACH: {
PX4_INFO("AUTORTL_APPROACH");
// transition condition
// Wait for drone to reach position setpoint
if (inside_acceptance_radius()) {
@@ -212,8 +209,6 @@ void FlightTaskPrecisionLanding::check_state_transitions()
}
case PRECLAND_STATE::MOVE_TO_SEARCH_ALTITUDE:
PX4_INFO("MOVE_TO_SEARCH_ALTITUDE");
// transition condition
if (inside_acceptance_radius()) {
mavlink_log_info(&_mavlink_log_pub, "Starting search");
@@ -224,14 +219,11 @@ void FlightTaskPrecisionLanding::check_state_transitions()
case PRECLAND_STATE::SEARCHING_TARGET:
{
PX4_INFO("SEARCHING_TARGET");
const float max_search_duration = _param_pld_srch_tout.get();
// Currently no search pattern is implemented. Just wait for target...
// Workaround for Orion app making unwanted changes to my parameters
if ((hrt_absolute_time() - _state_start_time) > max_search_duration * SEC2USEC) {
mavlink_log_info(&_mavlink_log_pub, "Search timed out");
if (++_search_count >= _param_pld_max_srch.get()) {
mavlink_log_info(&_mavlink_log_pub, "Abandonning search and landing immediately");
do_state_transition(PRECLAND_STATE::LANDING);
@@ -252,8 +244,6 @@ void FlightTaskPrecisionLanding::check_state_transitions()
}
case PRECLAND_STATE::MOVING_ABOVE_TARGET:
PX4_INFO("MOVING_ABOVE_TARGET");
// Transition condition
// - Check acceptance radius and
// - wait long enough to observe if the landing_target_pose timed out before proceeding
@@ -275,7 +265,6 @@ void FlightTaskPrecisionLanding::check_state_transitions()
break;
case PRECLAND_STATE::LANDING:
PX4_INFO("LANDING");
break;
}
}