diff options
Diffstat (limited to 'apps/multirotor_att_control/multirotor_att_control_main.c')
| -rwxr-xr-x[-rw-r--r--] | apps/multirotor_att_control/multirotor_att_control_main.c | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 7d5821d3f..63c7d0097 100644..100755 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -172,7 +172,7 @@ mc_thread_main(int argc, char *argv[]) rates_sp.pitch = offboard_sp.p2; rates_sp.yaw = offboard_sp.p3; rates_sp.thrust = offboard_sp.p4; - printf("thrust_rate=%8.4f\n",offboard_sp.p4); + //printf("thrust_rate=%8.4f\n",offboard_sp.p4); rates_sp.timestamp = hrt_absolute_time(); orb_publish(ORB_ID(vehicle_rates_setpoint), rates_sp_pub, &rates_sp); } else if (offboard_sp.mode == OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE) { @@ -180,7 +180,7 @@ mc_thread_main(int argc, char *argv[]) att_sp.pitch_body = offboard_sp.p2; att_sp.yaw_body = offboard_sp.p3; att_sp.thrust = offboard_sp.p4; - printf("thrust_att=%8.4f\n",offboard_sp.p4); + //printf("thrust_att=%8.4f\n",offboard_sp.p4); att_sp.timestamp = hrt_absolute_time(); /* STEP 2: publish the result to the vehicle actuators */ orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); @@ -196,6 +196,7 @@ mc_thread_main(int argc, char *argv[]) rates_sp.pitch = manual.pitch; rates_sp.yaw = manual.yaw; rates_sp.thrust = manual.throttle; + //printf("rates\n"); rates_sp.timestamp = hrt_absolute_time(); } @@ -212,6 +213,7 @@ mc_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_attitude_setpoint), att_sp_pub, &att_sp); if (motor_test_mode) { + printf("testmode"); att_sp.roll_body = 0.0f; att_sp.pitch_body = 0.0f; att_sp.yaw_body = 0.0f; |