diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-08 22:19:18 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-08 22:19:18 +0400 |
| commit | b165e6ba2000f89b1220393e469911f3e3a73286 (patch) | |
| tree | d01b603f884389aef6975a5e6532b9c1524bcc74 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | e0fbb0fb6079cffe1e3ab254caa4fd07906e9f7d (diff) | |
| parent | 501dc0cfa7259a1916522e5b70a5fd31cb7d20e1 (diff) | |
| download | px4-firmware-b165e6ba2000f89b1220393e469911f3e3a73286.tar.gz px4-firmware-b165e6ba2000f89b1220393e469911f3e3a73286.tar.bz2 px4-firmware-b165e6ba2000f89b1220393e469911f3e3a73286.zip | |
Merge branch 'master' into acro2
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 |
1 files changed, 0 insertions, 5 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 25d34c872..78d06ba5b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -51,7 +51,6 @@ #include <errno.h> #include <math.h> #include <poll.h> -#include <time.h> #include <drivers/drv_hrt.h> #include <arch/board/board.h> #include <uORB/uORB.h> @@ -68,7 +67,6 @@ #include <uORB/topics/vehicle_global_velocity_setpoint.h> #include <systemlib/param/param.h> #include <systemlib/err.h> -#include <systemlib/pid/pid.h> #include <systemlib/systemlib.h> #include <mathlib/mathlib.h> #include <lib/geo/geo.h> @@ -732,7 +730,6 @@ MulticopterPositionControl::task_main() } else { /* run position & altitude controllers, calculate velocity setpoint */ math::Vector<3> pos_err; - float err_x, err_y; get_vector_to_next_waypoint_fast(_global_pos.lat, _global_pos.lon, _lat_sp, _lon_sp, &pos_err.data[0], &pos_err.data[1]); pos_err(2) = -(_alt_sp - alt); @@ -794,7 +791,6 @@ MulticopterPositionControl::task_main() } thrust_int(2) = -i; - mavlink_log_info(_mavlink_fd, "[mpc] reset hovering thrust: %.2f", (double)i); } } else { @@ -806,7 +802,6 @@ MulticopterPositionControl::task_main() reset_int_xy = false; thrust_int(0) = 0.0f; thrust_int(1) = 0.0f; - mavlink_log_info(_mavlink_fd, "[mpc] reset xy vel integral"); } } else { |