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| author | Julian Oes <joes@student.ethz.ch> | 2012-09-27 17:08:29 +0200 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2012-09-27 17:08:29 +0200 |
| commit | 2c5c3141057be1f46cb4a33f71e2331ce36b18a7 (patch) | |
| tree | c4df8e1d5a005f98d10f215f5645140a4d2d5902 /apps/ardrone_interface | |
| parent | 7f153098926bf977609c6efb53fa7cb5093564af (diff) | |
| download | px4-firmware-2c5c3141057be1f46cb4a33f71e2331ce36b18a7.tar.gz px4-firmware-2c5c3141057be1f46cb4a33f71e2331ce36b18a7.tar.bz2 px4-firmware-2c5c3141057be1f46cb4a33f71e2331ce36b18a7.zip | |
Cleanup of lots of debugging printfs
Diffstat (limited to 'apps/ardrone_interface')
| -rw-r--r-- | apps/ardrone_interface/ardrone_interface.c | 11 | ||||
| -rw-r--r-- | apps/ardrone_interface/ardrone_motor_control.c | 4 |
2 files changed, 2 insertions, 13 deletions
diff --git a/apps/ardrone_interface/ardrone_interface.c b/apps/ardrone_interface/ardrone_interface.c index 8b4b5c400..8ed6db664 100644 --- a/apps/ardrone_interface/ardrone_interface.c +++ b/apps/ardrone_interface/ardrone_interface.c @@ -141,7 +141,6 @@ static int ardrone_open_uart(char *uart_name, struct termios *uart_config_origin int uart; /* open uart */ - //printf("[ardrone_interface] UART is %s, baud rate is%d\n",uart_name,speed); uart = open(uart_name, O_RDWR | O_NOCTTY); /* Try to set baud rate */ @@ -238,15 +237,14 @@ int ardrone_interface_thread_main(int argc, char *argv[]) /* declare and safely initialize all structs */ struct vehicle_status_s state; - //memset(&state, 0, sizeof(state)); + memset(&state, 0, sizeof(state)); struct actuator_controls_s actuator_controls; - //memset(&actuator_controls, 0, sizeof(actuator_controls)); + memset(&actuator_controls, 0, sizeof(actuator_controls)); struct actuator_armed_s armed; armed.armed = false; /* subscribe to attitude, motor setpoints and system state */ int actuator_controls_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); - int state_sub = orb_subscribe(ORB_ID(vehicle_status)); int armed_sub = orb_subscribe(ORB_ID(actuator_armed)); @@ -328,11 +326,6 @@ int ardrone_interface_thread_main(int argc, char *argv[]) * if in failsafe */ if (armed.armed && !armed.lockdown) { - - - - //printf("AMO_BEF: Roll: %4.4f, Pitch: %4.4f, Yaw: %4.4f, Thrust: %4.4f\n",actuator_controls.control[0], actuator_controls.control[1], actuator_controls.control[2], actuator_controls.control[3]); - ardrone_mixing_and_output(ardrone_write, &actuator_controls); } else { diff --git a/apps/ardrone_interface/ardrone_motor_control.c b/apps/ardrone_interface/ardrone_motor_control.c index e410d3a71..c68a26df9 100644 --- a/apps/ardrone_interface/ardrone_motor_control.c +++ b/apps/ardrone_interface/ardrone_motor_control.c @@ -388,16 +388,12 @@ 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 |