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AC_PosControl: remove debug

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Randy Mackay 2014-01-22 12:55:28 +09:00 committed by Andrew Tridgell
parent f5c305e960
commit 80ae3dca2e
1 changed files with 1 additions and 6 deletions
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7
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -424,25 +424,21 @@ void AC_PosControl::update_pos_controller(bool use_desired_velocity)
// translate any adjustments from pilot to loiter target // translate any adjustments from pilot to loiter target
desired_vel_to_pos(_dt_xy); desired_vel_to_pos(_dt_xy);
_xy_step++; _xy_step++;
hal.console->printf_P(PSTR("0"));
break; break;
case 1: case 1:
// run position controller's position error to desired velocity step // run position controller's position error to desired velocity step
pos_to_rate_xy(use_desired_velocity,_dt_xy); pos_to_rate_xy(use_desired_velocity,_dt_xy);
_xy_step++; _xy_step++;
hal.console->printf_P(PSTR("1"));
break; break;
case 2: case 2:
// run position controller's velocity to acceleration step // run position controller's velocity to acceleration step
rate_to_accel_xy(_dt_xy); rate_to_accel_xy(_dt_xy);
_xy_step++; _xy_step++;
hal.console->printf_P(PSTR("2"));
break; break;
case 3: case 3:
// run position controller's acceleration to lean angle step // run position controller's acceleration to lean angle step
accel_to_lean_angles(); accel_to_lean_angles();
_xy_step++; _xy_step++;
hal.console->printf_P(PSTR("3"));
break; break;
} }
} }
@ -602,8 +598,7 @@ void AC_PosControl::accel_to_lean_angles()
// update angle targets that will be passed to stabilize controller // update angle targets that will be passed to stabilize controller
_roll_target = constrain_float(fast_atan(accel_right*_cos_pitch/(GRAVITY_MSS * 100))*(18000/M_PI), -lean_angle_max, lean_angle_max); _roll_target = constrain_float(fast_atan(accel_right*_cos_pitch/(GRAVITY_MSS * 100))*(18000/M_PI), -lean_angle_max, lean_angle_max);
//_pitch_target = constrain_float(fast_atan(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI),-lean_angle_max, lean_angle_max); _pitch_target = constrain_float(fast_atan(-accel_forward/(GRAVITY_MSS * 100))*(18000/M_PI),-lean_angle_max, lean_angle_max);
// To-Do: uncomment above after weird compiler errors disappears
} }
/// reset_I_xy - clears I terms from loiter PID controller /// reset_I_xy - clears I terms from loiter PID controller