fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 16:48:52 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw_att_control remove debug code

Browse Source
This commit is contained in:
Daniel Agar
2018-02-21 21:07:29 -05:00
parent 559e2c211a
commit 80de3f48c8
1 changed files with 0 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_att_control/fw_att_control_main.cpp
-37
View File
@@ -150,8 +150,6 @@ private:
perf_counter_t _nonfinite_input_perf; /**< performance counter for non finite input */
perf_counter_t _nonfinite_output_perf; /**< performance counter for non finite output */
bool _debug; /**< if set to true, print debug output */
float _flaps_applied;
float _flaperons_applied;
@@ -358,7 +356,6 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fwa_nani")),
_nonfinite_output_perf(perf_alloc(PC_COUNT, "fwa_nano")),
/* states */
_debug(false),
_flaps_applied(0),
_flaperons_applied(0),
_roll(0.0f),
@@ -1004,10 +1001,6 @@ void FixedwingAttitudeControl::run()
if (!PX4_ISFINITE(roll_u)) {
_roll_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("roll_u %.4f", (double)roll_u);
}
}
float pitch_u = _pitch_ctrl.control_euler_rate(control_input);
@@ -1017,21 +1010,6 @@ void FixedwingAttitudeControl::run()
if (!PX4_ISFINITE(pitch_u)) {
_pitch_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("pitch_u %.4f, _yaw_ctrl.get_desired_rate() %.4f,"
" airspeed %.4f, airspeed_scaling %.4f,"
" roll_sp %.4f, pitch_sp %.4f,"
" _roll_ctrl.get_desired_rate() %.4f,"
" _pitch_ctrl.get_desired_rate() %.4f"
" att_sp.roll_body %.4f",
(double)pitch_u, (double)_yaw_ctrl.get_desired_rate(),
(double)airspeed, (double)airspeed_scaling,
(double)roll_sp, (double)pitch_sp,
(double)_roll_ctrl.get_desired_rate(),
(double)_pitch_ctrl.get_desired_rate(),
(double)_att_sp.roll_body);
}
}
float yaw_u = 0.0f;
@@ -1055,10 +1033,6 @@ void FixedwingAttitudeControl::run()
_yaw_ctrl.reset_integrator();
_wheel_ctrl.reset_integrator();
perf_count(_nonfinite_output_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("yaw_u %.4f", (double)yaw_u);
}
}
/* throttle passed through if it is finite and if no engine failure was detected */
@@ -1071,19 +1045,8 @@ void FixedwingAttitudeControl::run()
_actuators.control[actuator_controls_s::INDEX_THROTTLE] *= _battery_status.scale;
}
if (!PX4_ISFINITE(throttle_sp)) {
if (_debug && loop_counter % 10 == 0) {
warnx("throttle_sp %.4f", (double)throttle_sp);
}
}
} else {
perf_count(_nonfinite_input_perf);
if (_debug && loop_counter % 10 == 0) {
warnx("Non-finite setpoint roll_sp: %.4f, pitch_sp %.4f", (double)roll_sp, (double)pitch_sp);
}
}
} else {