diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h | 20 |
1 files changed, 10 insertions, 10 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 7dd5c7c2e..aff01479d 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_blocks.h @@ -89,8 +89,8 @@ public: float maximum = isAngularLimit() ? getMax() * M_DEG_TO_RAD_F : getMax(); 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()); +// 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) { difference = value - minimum; value = minimum; @@ -136,15 +136,15 @@ public: float output = getOffset() + getKFF() * inputValue + getKP() * inputError + getKI() * getIntegral().update(inputError); 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()); +// 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) && (((difference < 0) && (getKI() * getIntegral().update(inputError) < 0)) || ((difference > 0) && (getKI() * getIntegral().update(inputError) > 0)))) { getIntegral().setY(integralYPrevious); } - warnx("%s output limited %.2f", - name,(double)output); +// warnx("%s output limited %.2f", +// name,(double)output); return output; } // accessors @@ -179,11 +179,11 @@ public: float output = getKP() * input; char name[blockNameLengthMax]; getName(name, blockNameLengthMax); - warnx("%s output %.2f _kP.get() %.2f, input", - name,(double)output, (double)_kP.get(), (double)input); +// warnx("%s output %.2f _kP.get() %.2f, input", +// name,(double)output, (double)_kP.get(), (double)input); getOutputLimiter().limit(output, difference); - warnx("%s output limited %.2f", - name,(double)output); +// warnx("%s output limited %.2f", +// name,(double)output); return output; } // accessors |