From d57f06983edcd2471788c0cc7f6838bab356316a Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 23 Jul 2025 13:40:04 +0200 Subject: [PATCH] remove some print debugging --- .../flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp index bd6941cd7d..0352723842 100644 --- a/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp +++ b/src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp @@ -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);