Commit 9f24e1be authored by roangel's avatar roangel
Browse files

removed some annoying debugging

parent 11bfead6
......@@ -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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