Minor cleanups in debug output and offboard control arming

1 files changed, 25 insertions, 25 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
index 8fa41e150..46c1a6623 100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
@@ -360,31 +360,31 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
 			memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
 			uint64_t timing_diff = hrt_absolute_time() - timing_start;
 
-			/* print rotation matrix every 200th time */
-			if (printcounter % 200 == 0) {
-				// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
-				// 	x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
-				// 	x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
-				// 	x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
-
-
-				// }
-
-				printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
-				printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
-			// 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
-			// 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
-			// 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
-			}
-
-							int i = printcounter % 9;
-
-				// for (int i = 0; i < 9; i++) {
-					char name[10];
-					sprintf(name, "xapo #%d", i);
-					memcpy(dbg.key, name, sizeof(dbg.key));
-					dbg.value = x_aposteriori[i];
-					orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
+			// /* print rotation matrix every 200th time */
+			// if (printcounter % 200 == 0) {
+			// 	// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
+			// 	// 	x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
+			// 	// 	x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
+			// 	// 	x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
+
+
+			// 	// }
+
+			// 	printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
+			// 	printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
+			// // 	printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
+			// // 	       (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
+			// // 	       (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
+			// }
+
+			// 				int i = printcounter % 9;
+
+			// 	// for (int i = 0; i < 9; i++) {
+			// 		char name[10];
+			// 		sprintf(name, "xapo #%d", i);
+			// 		memcpy(dbg.key, name, sizeof(dbg.key));
+			// 		dbg.value = x_aposteriori[i];
+			// 		orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
 
 			printcounter++;