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PositionControl: remove unwanted debug printfs

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Matthias Grob
2019-11-21 00:22:23 +01:00
parent 1af7af02db
commit b63044393e
1 changed files with 0 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
-2
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@@ -296,7 +296,6 @@ void PositionControl::_velocityController(const float &dt)
// Saturate thrust setpoint in D-direction.
_thr_sp(2) = math::constrain(thrust_desired_D, uMin, uMax);
printf("%.3f %.3f\n", (double)uMin, (double)uMax);
if (PX4_ISFINITE(_thr_sp(0)) && PX4_ISFINITE(_thr_sp(1))) {
// Thrust set-point in NE-direction is already provided. Only
@@ -314,7 +313,6 @@ void PositionControl::_velocityController(const float &dt)
// Get maximum allowed thrust in NE based on tilt and excess thrust.
float thrust_max_NE_tilt = fabsf(_thr_sp(2)) * tanf(_constraints.tilt);
float thrust_max_NE = sqrtf(_lim_thr_max * _lim_thr_max - _thr_sp(2) * _thr_sp(2));
printf("%.3f %.3f\n", (double)(_lim_thr_max), (double)(_thr_sp(2)));
thrust_max_NE = math::min(thrust_max_NE_tilt, thrust_max_NE);
// Saturate thrust in NE-direction.