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added debug code to check if the values are really changing

This commit is contained in:
Marcel Stuettgen 2015-02-28 17:25:51 +01:00
parent 97d31f667e
commit d0c6636b7f
1 changed files with 17 additions and 0 deletions
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17
src/examples/rover_steering_control/main.cpp
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@ -156,6 +156,23 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
struct actuator_controls_s *actuators)
{
//double r,p,y,t;
//printf("vehicle_attitude_setpoint:\n");
//print values only when they change to get less spam in console
if((double)att_sp->roll_body > 0.0) { printf("att_sp->roll_body: %8.4f\n" , (double)att_sp->roll_body); }
if((double)att_sp->pitch_body > 0.0) {printf("att_sp->pitch_body: %8.4f\n" , (double)att_sp->pitch_body); }
if((double)att_sp->yaw_body > 0.0) { printf("att_sp->yaw_body: %8.4f\n" , (double)att_sp->yaw_body); }
if((double)att_sp->thrust > 0.0) { printf("att_sp->throttle: %8.4f\n" , (double)att_sp->thrust); }
// r = (double)att_sp->roll_body;
// p = (double)att_sp->pitch_body;
// y = (double)att_sp->yaw_body;
// t = (double)att_sp->thrust;
/*
* The PX4 architecture provides a mixer outside of the controller.
* The mixer is fed with a default vector of actuator controls, representing