ardrone in the air again (workaround: rate controller disabled)

1 files changed, 6 insertions, 3 deletions

diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c
index 787db1877..cbf9600a5 100644
--- a/apps/ardrone_interface/ardrone_motor_control.c
+++ b/apps/ardrone_interface/ardrone_motor_control.c
@@ -368,6 +368,8 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	float yaw_control = actuators->control[2];
 	float motor_thrust = actuators->control[3];
 
+	//printf("AMO: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",roll_control, pitch_control, yaw_control, motor_thrust);
+
 	const float min_thrust = 0.02f;			/**< 2% minimum thrust */
 	const float max_thrust = 1.0f;			/**< 100% max thrust */
 	const float scaling = 512.0f;			/**< 100% thrust equals a value of 512 */
@@ -387,15 +389,16 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls
 	if (motor_thrust <= min_thrust) {
 		motor_thrust = min_thrust;
 		output_band = 0.0f;
-
+		//printf("0 silent\n");
 	} else if (motor_thrust < startpoint_full_control && motor_thrust > min_thrust) {
 		output_band = band_factor * (motor_thrust - min_thrust);
-
+		//printf("1 starting\n");
 	} else if (motor_thrust >= startpoint_full_control && motor_thrust < max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * startpoint_full_control;
-
+		//printf("2 working\n");
 	} else if (motor_thrust >= max_thrust - band_factor * startpoint_full_control) {
 		output_band = band_factor * (max_thrust - motor_thrust);
+		//printf("3 full\n");
 	}
 
 	//add the yaw, nick and roll components to the basic thrust //TODO:this should be done by the mixer