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AHRS: removed some debug code

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This commit is contained in:
Andrew Tridgell 2012-12-20 13:31:12 +11:00
parent 9a2e77b797
commit e282554035
1 changed files with 0 additions and 8 deletions
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8
libraries/AP_AHRS/AP_AHRS.cpp
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@ -101,18 +101,10 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians)
{ {
Vector3f trim = _trim.get(); Vector3f trim = _trim.get();
// debug -- remove me!
hal.console->printf_P(PSTR("\nadd_trim before R:%4.2f P:%4.2f\n"),
ToDeg(trim.x),ToDeg(trim.y));
// add new trim // add new trim
trim.x = constrain(trim.x + roll_in_radians, ToRad(-10.0), ToRad(10.0)); trim.x = constrain(trim.x + roll_in_radians, ToRad(-10.0), ToRad(10.0));
trim.y = constrain(trim.y + pitch_in_radians, ToRad(-10.0), ToRad(10.0)); trim.y = constrain(trim.y + pitch_in_radians, ToRad(-10.0), ToRad(10.0));
// set and save new trim values // set and save new trim values
_trim.set_and_save(trim); _trim.set_and_save(trim);
// debug -- remove me!
hal.console->printf_P(PSTR("add_trim after R:%4.2f P:%4.2f\n"),
ToDeg(trim.x),ToDeg(trim.y));
} }