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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-07 17:24:48 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-08-07 17:24:48 +0200 |
| commit | 962a3464a624deef390fd42e179537cc0590b903 (patch) | |
| tree | 0539f62f610b45bdfb4b87b456e86d385ab0ddf9 /apps/mavlink/waypoints.c | |
| parent | 9536bfa3ca239e310be033e8d83a7cc293ebfff6 (diff) | |
| download | px4-firmware-962a3464a624deef390fd42e179537cc0590b903.tar.gz px4-firmware-962a3464a624deef390fd42e179537cc0590b903.tar.bz2 px4-firmware-962a3464a624deef390fd42e179537cc0590b903.zip | |
Minor cleanups in WP handling
Diffstat (limited to 'apps/mavlink/waypoints.c')
| -rw-r--r-- | apps/mavlink/waypoints.c | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/apps/mavlink/waypoints.c b/apps/mavlink/waypoints.c index 977f7d47e..8ed80c817 100644 --- a/apps/mavlink/waypoints.c +++ b/apps/mavlink/waypoints.c @@ -353,9 +353,10 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_ { static uint16_t counter; - if (wpm->size > 0 && counter % 10 == 0) { - printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id); - } + // Do not flood the precious wireless link with debug data + // if (wpm->size > 0 && counter % 10 == 0) { + // printf("Currect active waypoint id: %i\n", wpm->current_active_wp_id); + // } if (wpm->current_active_wp_id < wpm->size) { @@ -465,9 +466,10 @@ int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_positio } } - if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { - mavlink_wpm_send_setpoint(wpm->current_active_wp_id); - } + // Do NOT continously send the current WP, since we're not loosing messages + // if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { + // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); + // } check_waypoints_reached(now, global_position , local_position); |