From 284aa2217fb402cc8aca23ecd5ed3aa6279d8b1f Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 24 Sep 2013 20:40:07 +0900 Subject: [PATCH] Copter: remove old comments --- ArduCopter/GCS_Mavlink.pde | 5 ----- ArduCopter/commands.pde | 1 - ArduCopter/commands_logic.pde | 8 -------- ArduCopter/commands_process.pde | 11 ----------- ArduCopter/setup.pde | 11 ----------- ArduCopter/system.pde | 2 -- ArduCopter/test.pde | 29 ----------------------------- ArduCopter/toy.pde | 1 - 8 files changed, 68 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index fc4fde750a..d96488772c 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -993,7 +993,6 @@ GCS_MAVLINK::data_stream_send(void) send_message(MSG_RAW_IMU1); send_message(MSG_RAW_IMU2); send_message(MSG_RAW_IMU3); - //cliSerial->printf("mav1 %d\n", (int)streamRateRawSensors.get()); } if (gcs_out_of_time) return; @@ -1017,7 +1016,6 @@ GCS_MAVLINK::data_stream_send(void) if (stream_trigger(STREAM_RAW_CONTROLLER)) { send_message(MSG_SERVO_OUT); - //cliSerial->printf("mav4 %d\n", (int)streamRateRawController.get()); } if (gcs_out_of_time) return; @@ -1025,7 +1023,6 @@ GCS_MAVLINK::data_stream_send(void) if (stream_trigger(STREAM_RC_CHANNELS)) { send_message(MSG_RADIO_OUT); send_message(MSG_RADIO_IN); - //cliSerial->printf("mav5 %d\n", (int)streamRateRCChannels.get()); } if (gcs_out_of_time) return; @@ -1033,14 +1030,12 @@ GCS_MAVLINK::data_stream_send(void) if (stream_trigger(STREAM_EXTRA1)) { send_message(MSG_ATTITUDE); send_message(MSG_SIMSTATE); - //cliSerial->printf("mav6 %d\n", (int)streamRateExtra1.get()); } if (gcs_out_of_time) return; if (stream_trigger(STREAM_EXTRA2)) { send_message(MSG_VFR_HUD); - //cliSerial->printf("mav7 %d\n", (int)streamRateExtra2.get()); } if (gcs_out_of_time) return; diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde index 584619d441..4bf3be16e5 100644 --- a/ArduCopter/commands.pde +++ b/ArduCopter/commands.pde @@ -69,7 +69,6 @@ static void set_cmd_with_index(struct Location temp, int i) { i = constrain_int16(i, 0, g.command_total.get()); - //cliSerial->printf("set_command: %d with id: %d\n", i, temp.id); // store home as 0 altitude!!! // Home is always a MAV_CMD_NAV_WAYPOINT (16) diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index 196bb259c7..fbd7693f13 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -797,7 +797,6 @@ static bool verify_change_alt() static bool verify_within_distance() { - //cliSerial->printf("cond dist :%d\n", (int)condition_value); if (wp_distance < max(condition_value,0)) { condition_value = 0; return true; @@ -864,27 +863,20 @@ static void do_jump() // when in use, it contains the current remaining jumps static int8_t jump = -10; // used to track loops in jump command - //cliSerial->printf("do Jump: %d\n", jump); - if(jump == -10) { - //cliSerial->printf("Fresh Jump\n"); // we use a locally stored index for jump jump = command_cond_queue.lat; } - //cliSerial->printf("Jumps left: %d\n",jump); if(jump > 0) { - //cliSerial->printf("Do Jump to %d\n",command_cond_queue.p1); jump--; change_command(command_cond_queue.p1); } else if (jump == 0) { - //cliSerial->printf("Did last jump\n"); // we're done, move along jump = -11; } else if (jump == -1) { - //cliSerial->printf("jumpForever\n"); // repeat forever change_command(command_cond_queue.p1); } diff --git a/ArduCopter/commands_process.pde b/ArduCopter/commands_process.pde index 33c1be7445..52d8c8c5a0 100644 --- a/ArduCopter/commands_process.pde +++ b/ArduCopter/commands_process.pde @@ -4,18 +4,14 @@ //---------------------------------------- static void change_command(uint8_t cmd_index) { - //cliSerial->printf("change_command: %d\n",cmd_index ); // limit range cmd_index = min(g.command_total - 1, cmd_index); // load command struct Location temp = get_cmd_with_index(cmd_index); - //cliSerial->printf("loading cmd: %d with id:%d\n", cmd_index, temp.id); - // verify it's a nav command if(temp.id > MAV_CMD_NAV_LAST) { - //gcs_send_text_P(SEVERITY_LOW,PSTR("error: non-Nav cmd")); }else{ // clear out command queue @@ -32,13 +28,6 @@ static void change_command(uint8_t cmd_index) // called by 10 Hz loop static void update_commands() { - //cliSerial->printf("update_commands: %d\n",increment ); - // A: if we do not have any commands there is nothing to do - // B: We have completed the mission, don't redo the mission - // XXX debug - //uint8_t tmp = g.command_index.get(); - //cliSerial->printf("command_index %u \n", tmp); - if(g.command_total <= 1) return; diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde index 54688042f9..7b0d46ff45 100644 --- a/ArduCopter/setup.pde +++ b/ArduCopter/setup.pde @@ -765,7 +765,6 @@ setup_radio(uint8_t argc, const Menu::arg *argv) if(g.rc_1.radio_in < 500) { while(1) { - //cliSerial->printf_P(PSTR("\nNo radio; Check connectors.")); delay(1000); // stop here } @@ -1180,16 +1179,6 @@ static void report_gyro() // CLI utilities /***************************************************************************/ -/*static void - * print_PID(PI * pid) - * { - * cliSerial->printf_P(PSTR("P: %4.2f, I:%4.2f, IMAX:%ld\n"), - * pid->kP(), - * pid->kI(), - * (long)pid->imax()); - * } - */ - static void print_radio_values() { diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde index 95aa186422..b0c5f69b10 100644 --- a/ArduCopter/system.pde +++ b/ArduCopter/system.pde @@ -14,8 +14,6 @@ static int8_t test_mode(uint8_t argc, const Menu::arg *argv); // in te static int8_t reboot_board(uint8_t argc, const Menu::arg *argv); // This is the help function -// PSTR is an AVR macro to read strings from flash memory -// printf_P is a version of print_f that reads from flash memory static int8_t main_menu_help(uint8_t argc, const Menu::arg *argv) { cliSerial->printf_P(PSTR("Commands:\n" diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde index 1ddbb8741a..f056a79bc7 100644 --- a/ArduCopter/test.pde +++ b/ArduCopter/test.pde @@ -24,21 +24,6 @@ static int8_t test_shell(uint8_t argc, const Menu::arg *argv); static int8_t test_sonar(uint8_t argc, const Menu::arg *argv); #endif -// This is the help function -// PSTR is an AVR macro to read strings from flash memory -// printf_P is a version of printf that reads from flash memory -/*static int8_t help_test(uint8_t argc, const Menu::arg *argv) - * { - * cliSerial->printf_P(PSTR("\n" - * "Commands:\n" - * " radio\n" - * " servos\n" - * " g_gps\n" - * " imu\n" - * " battery\n" - * "\n")); - * }*/ - // Creates a constant array of structs representing menu options // and stores them in Flash memory, not RAM. // User enters the string in the console to call the functions on the right. @@ -424,20 +409,6 @@ test_radio(uint8_t argc, const Menu::arg *argv) g.rc_6.control_in, g.rc_7.control_in); - //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)); - - /*cliSerial->printf_P(PSTR( "min: %d" - * "\t in: %d" - * "\t pwm_in: %d" - * "\t sout: %d" - * "\t pwm_out %d\n"), - * g.rc_3.radio_min, - * g.rc_3.control_in, - * g.rc_3.radio_in, - * g.rc_3.servo_out, - * g.rc_3.pwm_out - * ); - */ if(cliSerial->available() > 0) { return (0); } diff --git a/ArduCopter/toy.pde b/ArduCopter/toy.pde index 8bd2b0a509..59afe4bde4 100644 --- a/ArduCopter/toy.pde +++ b/ArduCopter/toy.pde @@ -144,7 +144,6 @@ void roll_pitch_toy() #elif TOY_MIXER == TOY_LINEAR_MIXER roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /30; - //cliSerial->printf("roll_rate: %d\n",roll_rate); roll_rate = constrain_int32(roll_rate, -2000, 2000); #elif TOY_MIXER == TOY_EXTERNAL_MIXER