From 039d12bd55488ba721dbd583c61341757dab1102 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 5 Nov 2016 10:36:06 +0900 Subject: [PATCH] AP_Gripper: add parameter unit and remove print on grab or release --- libraries/AP_Gripper/AP_Gripper.cpp | 1 + libraries/AP_Gripper/AP_Gripper_EPM.cpp | 2 -- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp index 75532d4703..296bebbd01 100644 --- a/libraries/AP_Gripper/AP_Gripper.cpp +++ b/libraries/AP_Gripper/AP_Gripper.cpp @@ -52,6 +52,7 @@ const AP_Param::GroupInfo AP_Gripper::var_info[] = { // @Description: Time in seconds that gripper will regrab the cargo to ensure grip has not weakened; 0 to disable // @User: Advanced // @Values: 0 255 + // @Units: seconds AP_GROUPINFO("REGRAB", 5, AP_Gripper, config.regrab_interval, GRIPPER_REGRAB_DEFAULT), // @Param: UAVCAN_ID diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.cpp b/libraries/AP_Gripper/AP_Gripper_EPM.cpp index d4fabe7f2e..3e8d5bb1d7 100644 --- a/libraries/AP_Gripper/AP_Gripper_EPM.cpp +++ b/libraries/AP_Gripper/AP_Gripper_EPM.cpp @@ -48,7 +48,6 @@ void AP_Gripper_EPM::grab() #ifdef UAVCAN_IOCS_HARDPOINT_SET if (should_use_uavcan()) { - ::printf("EPM: UAVCAN GRAB\n"); const UAVCANCommand cmd = make_uavcan_command(1); (void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast(&cmd)); } @@ -71,7 +70,6 @@ void AP_Gripper_EPM::release() #ifdef UAVCAN_IOCS_HARDPOINT_SET if (should_use_uavcan()) { - ::printf("EPM: UAVCAN RELEASE\n"); const UAVCANCommand cmd = make_uavcan_command(0); (void)ioctl(_uavcan_fd, UAVCAN_IOCS_HARDPOINT_SET, reinterpret_cast(&cmd)); }