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MC pos controller: log exceptions but rate-limit them

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Lorenz Meier
2017-09-11 02:08:22 -07:00
parent 11a4410500
commit e58766c394
1 changed files with 2 additions and 7 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+2 -7
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@@ -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;
}