From 9f24e1be736c588f58c6eec37e7574936a01163e Mon Sep 17 00:00:00 2001
From: Angel <roangel@student.ethz.ch>
Date: Wed, 27 Sep 2017 11:09:17 +0200
Subject: [PATCH] removed some annoying debugging
---
pps_ws/src/d_fall_pps/src/SafeControllerService.cpp | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
index 4b712ef3..1ea1f35e 100755
--- a/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/SafeControllerService.cpp
@@ -232,7 +232,7 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
outYaw -= gainMatrixYaw[i] * state[i];
thrustIntermediate -= gainMatrixThrust[i] * state[i];
}
- ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);
+ // ROS_INFO_STREAM("thrustIntermediate = " << thrustIntermediate);
//INFORMATION: this ugly fix was needed for the older firmware
//outYaw *= 0.5;
@@ -250,11 +250,11 @@ bool calculateControlOutput(Controller::Request &request, Controller::Response &
response.controlOutput.motorCmd3 = computeMotorPolyBackward(thrustIntermediate + ffThrust[2]);
response.controlOutput.motorCmd4 = computeMotorPolyBackward(thrustIntermediate + ffThrust[3]);
- ROS_INFO_STREAM("ffThrust" << ffThrust[0]);
- ROS_INFO_STREAM("controlOutput.cmd1 = " << response.controlOutput.motorCmd1);
- ROS_INFO_STREAM("controlOutput.cmd3 = " << response.controlOutput.motorCmd2);
- ROS_INFO_STREAM("controlOutput.cmd2 = " << response.controlOutput.motorCmd3);
- ROS_INFO_STREAM("controlOutput.cmd4 = " << response.controlOutput.motorCmd4);
+ // ROS_INFO_STREAM("ffThrust" << ffThrust[0]);
+ // ROS_INFO_STREAM("controlOutput.cmd1 = " << response.controlOutput.motorCmd1);
+ // ROS_INFO_STREAM("controlOutput.cmd3 = " << response.controlOutput.motorCmd2);
+ // ROS_INFO_STREAM("controlOutput.cmd2 = " << response.controlOutput.motorCmd3);
+ // ROS_INFO_STREAM("controlOutput.cmd4 = " << response.controlOutput.motorCmd4);
response.controlOutput.onboardControllerType = RATE_CONTROLLER;
--
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