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https://github.com/ArduPilot/ardupilot
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Copter: remove old comments
This commit is contained in:
Randy Mackay
parent
e5535e35b3
commit
284aa2217f
@ -993,7 +993,6 @@ GCS_MAVLINK::data_stream_send(void)
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send_message(MSG_RAW_IMU1);
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send_message(MSG_RAW_IMU2);
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send_message(MSG_RAW_IMU3);
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//cliSerial->printf("mav1 %d\n", (int)streamRateRawSensors.get());
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}
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if (gcs_out_of_time) return;
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@ -1017,7 +1016,6 @@ GCS_MAVLINK::data_stream_send(void)
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if (stream_trigger(STREAM_RAW_CONTROLLER)) {
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send_message(MSG_SERVO_OUT);
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//cliSerial->printf("mav4 %d\n", (int)streamRateRawController.get());
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}
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if (gcs_out_of_time) return;
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@ -1025,7 +1023,6 @@ GCS_MAVLINK::data_stream_send(void)
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if (stream_trigger(STREAM_RC_CHANNELS)) {
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send_message(MSG_RADIO_OUT);
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send_message(MSG_RADIO_IN);
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//cliSerial->printf("mav5 %d\n", (int)streamRateRCChannels.get());
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}
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if (gcs_out_of_time) return;
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@ -1033,14 +1030,12 @@ GCS_MAVLINK::data_stream_send(void)
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if (stream_trigger(STREAM_EXTRA1)) {
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send_message(MSG_ATTITUDE);
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send_message(MSG_SIMSTATE);
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//cliSerial->printf("mav6 %d\n", (int)streamRateExtra1.get());
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}
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if (gcs_out_of_time) return;
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if (stream_trigger(STREAM_EXTRA2)) {
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send_message(MSG_VFR_HUD);
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//cliSerial->printf("mav7 %d\n", (int)streamRateExtra2.get());
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}
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if (gcs_out_of_time) return;
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@ -69,7 +69,6 @@ static void set_cmd_with_index(struct Location temp, int i)
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{
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i = constrain_int16(i, 0, g.command_total.get());
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//cliSerial->printf("set_command: %d with id: %d\n", i, temp.id);
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// store home as 0 altitude!!!
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// Home is always a MAV_CMD_NAV_WAYPOINT (16)
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@ -797,7 +797,6 @@ static bool verify_change_alt()
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static bool verify_within_distance()
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{
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//cliSerial->printf("cond dist :%d\n", (int)condition_value);
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if (wp_distance < max(condition_value,0)) {
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condition_value = 0;
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return true;
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@ -864,27 +863,20 @@ static void do_jump()
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// when in use, it contains the current remaining jumps
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static int8_t jump = -10; // used to track loops in jump command
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//cliSerial->printf("do Jump: %d\n", jump);
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if(jump == -10) {
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//cliSerial->printf("Fresh Jump\n");
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// we use a locally stored index for jump
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jump = command_cond_queue.lat;
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}
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//cliSerial->printf("Jumps left: %d\n",jump);
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if(jump > 0) {
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//cliSerial->printf("Do Jump to %d\n",command_cond_queue.p1);
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jump--;
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change_command(command_cond_queue.p1);
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} else if (jump == 0) {
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//cliSerial->printf("Did last jump\n");
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// we're done, move along
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jump = -11;
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} else if (jump == -1) {
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//cliSerial->printf("jumpForever\n");
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// repeat forever
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change_command(command_cond_queue.p1);
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}
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@ -4,18 +4,14 @@
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//----------------------------------------
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static void change_command(uint8_t cmd_index)
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{
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//cliSerial->printf("change_command: %d\n",cmd_index );
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// limit range
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cmd_index = min(g.command_total - 1, cmd_index);
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// load command
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struct Location temp = get_cmd_with_index(cmd_index);
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//cliSerial->printf("loading cmd: %d with id:%d\n", cmd_index, temp.id);
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// verify it's a nav command
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if(temp.id > MAV_CMD_NAV_LAST) {
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//gcs_send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd"));
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}else{
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// clear out command queue
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@ -32,13 +28,6 @@ static void change_command(uint8_t cmd_index)
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// called by 10 Hz loop
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static void update_commands()
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{
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//cliSerial->printf("update_commands: %d\n",increment );
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// A: if we do not have any commands there is nothing to do
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// B: We have completed the mission, don't redo the mission
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// XXX debug
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//uint8_t tmp = g.command_index.get();
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//cliSerial->printf("command_index %u \n", tmp);
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if(g.command_total <= 1)
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return;
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@ -765,7 +765,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv)
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if(g.rc_1.radio_in < 500) {
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while(1) {
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//cliSerial->printf_P(PSTR("\nNo radio; Check connectors."));
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delay(1000);
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// stop here
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}
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@ -1180,16 +1179,6 @@ static void report_gyro()
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// CLI utilities
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/***************************************************************************/
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/*static void
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* print_PID(PI * pid)
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* {
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* cliSerial->printf_P(PSTR("P: %4.2f, I:%4.2f, IMAX:%ld\n"),
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* pid->kP(),
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* pid->kI(),
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* (long)pid->imax());
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* }
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*/
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static void
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print_radio_values()
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{
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@ -14,8 +14,6 @@ static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in te
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static int8_t reboot_board(uint8_t argc, const Menu::arg *argv);
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of print_f that reads from flash memory
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static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv)
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{
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cliSerial->printf_P(PSTR("Commands:\n"
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@ -24,21 +24,6 @@ static int8_t test_shell(uint8_t argc, const Menu::arg *argv);
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static int8_t test_sonar(uint8_t argc, const Menu::arg *argv);
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#endif
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// This is the help function
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// PSTR is an AVR macro to read strings from flash memory
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// printf_P is a version of printf that reads from flash memory
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/*static int8_t help_test(uint8_t argc, const Menu::arg *argv)
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* {
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* cliSerial->printf_P(PSTR("\n"
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* "Commands:\n"
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* " radio\n"
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* " servos\n"
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* " g_gps\n"
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* " imu\n"
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* " battery\n"
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* "\n"));
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* }*/
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// Creates a constant array of structs representing menu options
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// and stores them in Flash memory, not RAM.
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// User enters the string in the console to call the functions on the right.
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@ -424,20 +409,6 @@ test_radio(uint8_t argc, const Menu::arg *argv)
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g.rc_6.control_in,
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g.rc_7.control_in);
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//cliSerial->printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d\n"), (g.rc_1.servo_out / 100), (g.rc_2.servo_out / 100), g.rc_3.servo_out, (g.rc_4.servo_out / 100));
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/*cliSerial->printf_P(PSTR( "min: %d"
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* "\t in: %d"
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* "\t pwm_in: %d"
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* "\t sout: %d"
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* "\t pwm_out %d\n"),
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* g.rc_3.radio_min,
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* g.rc_3.control_in,
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* g.rc_3.radio_in,
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* g.rc_3.servo_out,
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* g.rc_3.pwm_out
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* );
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*/
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if(cliSerial->available() > 0) {
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return (0);
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}
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@ -144,7 +144,6 @@ void roll_pitch_toy()
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#elif TOY_MIXER == TOY_LINEAR_MIXER
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roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /30;
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//cliSerial->printf("roll_rate: %d\n",roll_rate);
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roll_rate = constrain_int32(roll_rate, -2000, 2000);
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#elif TOY_MIXER == TOY_EXTERNAL_MIXER
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