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author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-25 23:03:06 +0100 |
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committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-25 23:03:17 +0100 |
commit | d8eeec6cdbff505ac7f50877cc552b33ccf8837c (patch) | |
tree | b5e945e81cab913c06ca29ce9ac4fecffeaf4f87 /src/modules/fw_pos_control_l1 | |
parent | f949395edf873b423cae3d62a95cd0800a2d344f (diff) | |
download | px4-firmware-d8eeec6cdbff505ac7f50877cc552b33ccf8837c.tar.gz px4-firmware-d8eeec6cdbff505ac7f50877cc552b33ccf8837c.tar.bz2 px4-firmware-d8eeec6cdbff505ac7f50877cc552b33ccf8837c.zip |
mtecs: comment out debug code
Diffstat (limited to 'src/modules/fw_pos_control_l1')
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h index aff01479d..c15d90cdb 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -87,8 +87,8 @@ public: bool limit(float& value, float& difference) { float minimum = isAngularLimit() ? getMin() * M_DEG_TO_RAD_F : getMin(); float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s minimum %.2f maximum %.2f, getMin() %.2f, getMax() %.2f, isAngularLimit() %u", // name,(double)minimum,(double)maximum, (double)getMin(), (double)getMax(), isAngularLimit()); if (value < minimum) { @@ -134,8 +134,8 @@ public: float difference = 0.0f; float integralYPrevious = _integral.getY(); float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s output %.2f getKFF() %.2f, inputValue %.2f, getKP() %.2f, getKI() %.2f, getIntegral().getY() %.2f, inputError %.2f getIntegral().getDt() %.2f", name, // (double)output, (double)getKFF(), (double)inputValue, (double)getKP(), (double)getKI(), (double)getIntegral().getY(), (double)inputError, (double)getIntegral().getDt()); if(!getOutputLimiter().limit(output, difference) && @@ -177,8 +177,8 @@ public: float update(float input) { float difference = 0.0f; float output = getKP() * input; - char name[blockNameLengthMax]; - getName(name, blockNameLengthMax); +// char name[blockNameLengthMax]; +// getName(name, blockNameLengthMax); // warnx("%s output %.2f _kP.get() %.2f, input", // name,(double)output, (double)_kP.get(), (double)input); getOutputLimiter().limit(output, difference); |