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mtecs: commented out warnx

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Julian Oes
2014-03-25 21:24:20 +01:00
parent b61e6f2706
commit c81aefc756
1 changed files with 10 additions and 10 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+10 -10
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@@ -89,8 +89,8 @@ public:
float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u",
name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit());
// warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u",
// name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit());
if (value < minimum) {
difference = value - minimum;
value = minimum;
@@ -136,15 +136,15 @@ public:
float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError);
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name,
(double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt());
// warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name,
// (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt());
if(!getOutputLimiter().limit(output, difference) &&
(((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) ||
((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) {
getIntegral().setY(integralYPrevious);
}
warnx("%s output limited %.2f",
name,(double)output);
// warnx("%s output limited %.2f",
// name,(double)output);
return output;
}
// accessors
@@ -179,11 +179,11 @@ public:
float output = getKP() * input;
char name[blockNameLengthMax];
getName(name, blockNameLengthMax);
warnx("%s output %.2f _kP.get() %.2f, input",
name,(double)output, (double)_kP.get(), (double)input);
// warnx("%s output %.2f _kP.get() %.2f, input",
// name,(double)output, (double)_kP.get(), (double)input);
getOutputLimiter().limit(output, difference);
warnx("%s output limited %.2f",
name,(double)output);
// warnx("%s output limited %.2f",
// name,(double)output);
return output;
}
// accessors