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mtecs: comment out debug code

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Thomas Gubler
2014-03-25 23:03:17 +01:00
parent f949395edf
commit d8eeec6cdb
1 changed files with 6 additions and 6 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h
+6 -6
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@@ -87,8 +87,8 @@ public:
bool limit(float& value, float& difference) { bool limit(float& value, float& difference) {
float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin();
float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax();
char name[blockNameLengthMax]; // char name[blockNameLengthMax];
getName(name, blockNameLengthMax); // getName(name, blockNameLengthMax);
// warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", // warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u",
// name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); // name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit());
if (value < minimum) { if (value < minimum) {
@@ -134,8 +134,8 @@ public:
float difference = 0.0f; float difference = 0.0f;
float integralYPrevious = _integral.getY(); float integralYPrevious = _integral.getY();
float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError);
char name[blockNameLengthMax]; // char name[blockNameLengthMax];
getName(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, // 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()); // (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt());
if(!getOutputLimiter().limit(output, difference) && if(!getOutputLimiter().limit(output, difference) &&
@@ -177,8 +177,8 @@ public:
float update(float input) { float update(float input) {
float difference = 0.0f; float difference = 0.0f;
float output = getKP() * input; float output = getKP() * input;
char name[blockNameLengthMax]; // char name[blockNameLengthMax];
getName(name, blockNameLengthMax); // getName(name, blockNameLengthMax);
// warnx("%s output %.2f _kP.get() %.2f, input", // warnx("%s output %.2f _kP.get() %.2f, input",
// name,(double)output, (double)_kP.get(), (double)input); // name,(double)output, (double)_kP.get(), (double)input);
getOutputLimiter().limit(output, difference); getOutputLimiter().limit(output, difference);