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AC_PosControl: remove debug

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Randy Mackay 2014-01-25 13:39:52 +09:00 committed by Andrew Tridgell
parent 4cd45e2edf
commit 1b8791a142
1 changed files with 0 additions and 12 deletions
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12
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -186,8 +186,6 @@ void AC_PosControl::calc_leash_length_z()
_leash_up_z = calc_leash_length(_speed_up_cms, _accel_z_cms, _pi_alt_pos.kP());
_leash_down_z = calc_leash_length(_speed_down_cms, _accel_z_cms, _pi_alt_pos.kP());
_flags.recalc_leash_z = false;
// debug -- remove me!
hal.console->printf_P(PSTR("\nLLZ:%4.2f %4.2f\n"),(float)_leash_up_z, (float)_leash_down_z);
}
}
@ -368,13 +366,6 @@ void AC_PosControl::set_pos_target(const Vector3f& position)
{
_pos_target = position;
// debug -- remove me!
static uint8_t counter = 0;
counter++;
if (counter >= 10) {
counter = 0;
hal.console->printf_P(PSTR("\nPosX:%4.2f Y:%4.2f Z:%4.2f\n"), (float)_pos_target.x, (float)_pos_target.y, (float)_pos_target.z);
}
// initialise roll and pitch to current roll and pitch. This avoids a twitch between when the target is set and the pos controller is first run
// To-Do: this initialisation of roll and pitch targets needs to go somewhere between when pos-control is initialised and when it completes it's first cycle
//_roll_target = constrain_int32(_ahrs.roll_sensor,-_attitude_control.lean_angle_max(),_attitude_control.lean_angle_max());
@ -489,9 +480,6 @@ void AC_PosControl::calc_leash_length_xy()
if (_flags.recalc_leash_xy) {
_leash = calc_leash_length(_speed_cms, _accel_cms, _pi_pos_lon.kP());
_flags.recalc_leash_xy = false;
// debug -- remove me!
hal.console->printf_P(PSTR("\nXYA:%4.2f S:%4.2f kP:%4.2f\n"),(float)_accel_cms, (float)_speed_cms, (float)_pi_pos_lon.kP());
hal.console->printf_P(PSTR("\nLLXY:%4.2f\n"),(float)_leash);
}
}