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CollisionPrevention remove mavlink_log outputs

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This commit is contained in:
Martina Rivizzigno
2020-03-02 16:49:56 +01:00
committed by Julian Kent
parent a9491dfaf7
commit 678e32caf7
2 changed files with 0 additions and 15 deletions
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src/lib/collision_prevention/CollisionPrevention.cpp
-14
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@@ -483,11 +483,6 @@ CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vec
//if the sensor field of view is zero, never allow to move (even if move_no_data=1)
if (num_fov_bins == 0) {
vel_max = 0.f;
if (getElapsedTime(&_last_timeout_warning) > 1_s) {
mavlink_log_critical(&_mavlink_log_pub, "Range sensor data invalid, no movement allowed.");
_last_timeout_warning = getTime();
}
}
setpoint = setpoint_dir * vel_max;
@@ -500,12 +495,10 @@ CollisionPrevention::_calculateConstrainedSetpoint(Vector2f &setpoint, const Vec
// if distance data is stale, switch to Loiter
if (getElapsedTime(&_last_timeout_warning) > 1_s && getElapsedTime(&_time_activated) > 1_s) {
mavlink_log_critical(&_mavlink_log_pub, "No range data received, no movement allowed.");
if ((constrain_time - _obstacle_map_body_frame.timestamp) > TIMEOUT_HOLD_US
&& getElapsedTime(&_time_activated) > TIMEOUT_HOLD_US) {
_publishVehicleCmdDoLoiter();
mavlink_log_critical(&_mavlink_log_pub, "No range data received, switch to HOLD.");
}
_last_timeout_warning = getTime();
@@ -529,13 +522,6 @@ CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max
|| new_setpoint(1) < original_setpoint(1) - 0.05f * max_speed
|| new_setpoint(1) > original_setpoint(1) + 0.05f * max_speed);
if (currently_interfering && !_interfering) {
if (getElapsedTime(&_last_collision_warning) > 3_s) {
mavlink_log_info(&_mavlink_log_pub, "Collision Prevention limiting velocity");
_last_collision_warning = getTime();
}
}
_interfering = currently_interfering;
// publish constraints
src/lib/collision_prevention/CollisionPrevention.hpp
-1
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@@ -138,7 +138,6 @@ private:
static constexpr uint64_t RANGE_STREAM_TIMEOUT_US{500_ms};
static constexpr uint64_t TIMEOUT_HOLD_US{5_s};
hrt_abstime _last_collision_warning{0};
hrt_abstime _last_timeout_warning{0};
hrt_abstime _time_activated{0};