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SITL: Gimbal make some printfs #if GIMBAL_DEBUG

This commit is contained in:
Joshua Henderson 2022-01-06 17:53:42 -05:00 committed by Andrew Tridgell
parent dd8daa05fc
commit d77105b3b1
1 changed files with 10 additions and 2 deletions
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12
libraries/SITL/SIM_Gimbal.cpp
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@ -28,6 +28,14 @@
extern const AP_HAL::HAL& hal;
#define GIMBAL_DEBUG 0
#if GIMBAL_DEBUG
#define debug(fmt, args...) do { printf("GIMBAL: " fmt, ##args); } while(0)
#else
#define debug(fmt, args...) do { } while(0)
#endif
namespace SITL {
Gimbal::Gimbal(const struct sitl_fdm &_fdm) :
@ -287,7 +295,7 @@ void Gimbal::send_report(void)
case MAVLINK_MSG_ID_HEARTBEAT: {
mavlink_heartbeat_t pkt;
mavlink_msg_heartbeat_decode(&msg, &pkt);
printf("Gimbal: got HB type=%u autopilot=%u base_mode=0x%x\n", pkt.type, pkt.autopilot, pkt.base_mode);
debug("got HB type=%u autopilot=%u base_mode=0x%x\n", pkt.type, pkt.autopilot, pkt.base_mode);
if (!seen_heartbeat) {
seen_heartbeat = true;
vehicle_component_id = msg.compid;
@ -336,7 +344,7 @@ void Gimbal::send_report(void)
break;
}
default:
printf("Gimbal got unexpected msg %u\n", msg.msgid);
debug("got unexpected msg %u\n", msg.msgid);
break;
}
}