added debug code to check if the values are really changing

1 files changed, 17 insertions, 0 deletions

diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index 7ef914098..67ff48916 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -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