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Copter: remove follow mode debug

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This commit is contained in:
Randy Mackay 2018-12-08 13:18:41 +09:00
parent 90a8f8b7e0
commit 4b6db7c0dd
1 changed files with 2 additions and 21 deletions
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23
ArduCopter/mode_follow.cpp
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@ -13,25 +13,14 @@
* TODO: ensure AC_AVOID_ENABLED is true because we rely on it velocity limiting functions
*/
#if 1
#define Debug(fmt, args ...) do { \
gcs().send_text(MAV_SEVERITY_WARNING, fmt, ## args); \
} while(0)
#elif 0
#define Debug(fmt, args ...) do { \
::fprintf(stderr, "%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args);
#else
#define Debug(fmt, args ...)
#endif
// initialise follow mode
bool Copter::ModeFollow::init(const bool ignore_checks)
{
// re-use guided mode
gcs().send_text(MAV_SEVERITY_WARNING, "Follow-mode init");
if (!g2.follow.enabled()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Set FOLL_ENABLE = 1");
return false;
}
// re-use guided mode
return Copter::ModeGuided::init(ignore_checks);
}
@ -56,14 +45,6 @@ void Copter::ModeFollow::run()
Vector3f dist_vec_offs; // vector to lead vehicle + offset
Vector3f vel_of_target; // velocity of lead vehicle
if (g2.follow.get_target_dist_and_vel_ned(dist_vec, dist_vec_offs, vel_of_target)) {
// debug
static uint16_t counter = 0;
counter++;
if (counter >= 400) {
counter = 0;
Debug("dist to veh: %f %f %f", (double)dist_vec.x, (double)dist_vec.y, (double)dist_vec.z);
}
// convert dist_vec_offs to cm in NEU
const Vector3f dist_vec_offs_neu(dist_vec_offs.x * 100.0f, dist_vec_offs.y * 100.0f, -dist_vec_offs.z * 100.0f);