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Sub: remove heading hold debug message from stabilize

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This commit is contained in:
Jacob Walser 2016-08-25 23:40:21 -04:00 committed by Andrew Tridgell
parent daccdec13c
commit e1bf217422
1 changed files with 0 additions and 6 deletions
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6
ArduSub/control_stabilize.cpp
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@ -3,7 +3,6 @@
#include "Sub.h" #include "Sub.h"
namespace { namespace {
static uint32_t last_stabilize_message_ms = 0;
uint32_t last_pilot_heading; uint32_t last_pilot_heading;
uint32_t last_pilot_yaw_input_ms = 0; uint32_t last_pilot_yaw_input_ms = 0;
} }
@ -65,11 +64,6 @@ void Sub::stabilize_run()
} else { // hold current heading } else { // hold current heading
if(tnow > last_stabilize_message_ms + 1500) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "target: %d", last_pilot_heading);
last_stabilize_message_ms = tnow;
}
// this check is required to prevent bounce back after very fast yaw maneuvers // this check is required to prevent bounce back after very fast yaw maneuvers
// the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped // the inertia of the vehicle causes the heading to move slightly past the point when pilot input actually stopped
if(tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading if(tnow < last_pilot_yaw_input_ms + 250) { // give 250ms to slow down, then set target heading