From e58766c3942ae773d1d2f6d78855eae43be30fd0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 5 May 2017 15:01:27 +0200 Subject: [PATCH] MC pos controller: log exceptions but rate-limit them --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index da2da8ee1f..72a8eb06cb 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -348,11 +348,6 @@ private: void warn_rate_limited(const char *str); - /* - * limit vel horizontally when close to target - */ - void limit_vel_xy_gradually(); - /** * Shim for calling task_main from task_create. */ @@ -1182,7 +1177,7 @@ MulticopterPositionControl::control_offboard(float dt) _vel_sp(1) = sinf(_yaw) * _pos_sp_triplet.current.vx + cosf(_yaw) * _pos_sp_triplet.current.vy; } else { - PX4_WARN("Unknown velocity offboard coordinate frame"); + warn_rate_limited("Unknown velocity offboard coordinate frame"); } _run_pos_control = false; @@ -1637,7 +1632,7 @@ void MulticopterPositionControl::control_auto(float dt) if (!(PX4_ISFINITE(_pos_sp(0)) && PX4_ISFINITE(_pos_sp(1)) && PX4_ISFINITE(_pos_sp(2)))) { - PX4_WARN("Auto: Position setpoint not finite"); + warn_rate_limited("Auto: Position setpoint not finite"); _pos_sp = _curr_pos_sp; }