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remove some print debugging

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This commit is contained in:
Balduin
2025-07-23 14:06:35 +02:00
parent adae225f43
commit d57f06983e
1 changed files with 3 additions and 4 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
+3 -4
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@@ -277,7 +277,6 @@ void FlightTaskAuto::_prepareLandSetpoints()
_param_mpc_land_radius.get(), sticks_ne);
if (PX4_ISFINITE(distance_to_circle)) {
PX4_INFO(" circle distance finite");
max_speed = math::trajectory::computeMaxSpeedFromDistance(_stick_acceleration_xy.getMaxJerk(),
_stick_acceleration_xy.getMaxAcceleration(), distance_to_circle, 0.f);
@@ -291,15 +290,15 @@ void FlightTaskAuto::_prepareLandSetpoints()
}
}
PX4_INFO(" max speed: %.2f", (double) max_speed);
if (position_valid) {
_stick_acceleration_xy.setVelocityConstraint(max_speed);
_stick_acceleration_xy.generateSetpoints(sticks_xy, _yaw, _land_heading, pos,
_velocity_setpoint_feedback.xy(), _deltatime);
_stick_acceleration_xy.getSetpoints(_land_position, _velocity_setpoint, _acceleration_setpoint);
} else {
// Position independent nudging from FlightTaskDescend
PX4_INFO("position invalid branch");
// Position independent nudging from FlightTaskDescend.
// This cannot take into account any max_speed limit
_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint, _sticks.getYawExpo(), _yaw, _deltatime);
_acceleration_setpoint.xy() = _stick_tilt_xy.generateAccelerationSetpoints(_sticks.getPitchRoll(), _deltatime, _yaw,
_yaw_setpoint);