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SITL: SIM_Frame: remove motor evaluation debug code

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Iampete1 2022-04-30 14:12:34 +01:00 committed by Andrew Tridgell
parent a095415702
commit 6a8fff67f7
1 changed files with 0 additions and 20 deletions
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20
libraries/SITL/SIM_Frame.cpp
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@ -537,26 +537,6 @@ void Frame::init(const char *frame_str, Battery *_battery)
model.moment_of_inertia.z = model.mass * 0.5 * sq(model.diagonal_size*0.5);
}
#if 0
// useful debug code for thrust curve
{
motors[0].set_slew_max(0);
struct sitl_input input {};
for (uint16_t pwm = 1000; pwm < 2000; pwm += 50) {
input.servos[0] = pwm;
Vector3f rot_accel {}, thrust {};
Vector3f vel_air_bf {};
motors[0].calculate_forces(input, motor_offset, rot_accel, thrust, vel_air_bf,
ref_air_density, battery->get_voltage());
::printf("pwm[%u] cmd=%.3f thrust=%.3f hovthst=%.3f\n",
pwm, motors[0].pwm_to_command(pwm), -thrust.z*num_motors, hover_thrust);
}
motors[0].set_slew_max(model.slew_max);
}
#endif
// setup reasonable defaults for battery
AP_Param::set_default_by_name("SIM_BATT_VOLTAGE", model.maxVoltage);
AP_Param::set_default_by_name("SIM_BATT_CAP_AH", model.battCapacityAh);