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px4-firmware
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fw autoland: remove old comments

This commit is contained in:
Thomas Gubler 2014-02-19 23:26:50 +01:00
parent 9830f668c5
commit 60de15ea9d
1 changed files with 0 additions and 4 deletions
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4
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -942,17 +942,13 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
/* stay on slope */
altitude_desired = landing_slope_alt_desired;
//warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
if (!land_onslope) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
land_onslope = true;
}
} else {
/* continue horizontally */
altitude_desired = math::max(_global_pos.alt, L_altitude);
//warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),