Diff: quadcopter.cpp

Revision:

26:7f50323c0c0d

Parent:

25:d44610851105

Child:

27:11116aa69f32

diff -r d44610851105 -r 7f50323c0c0d quadcopter.cpp
--- a/quadcopter.cpp	Wed Apr 13 19:16:03 2016 +0000
+++ b/quadcopter.cpp	Thu Apr 14 19:58:42 2016 +0000
@@ -120,7 +120,7 @@
     controlInput_.mz = kp_psi_*(desiredState_.psi-state_.psi)+kd_psi_*(desiredState_.r-state_.r);
     //print("Calculated Control");
 
-    //print("F: %f M_x: %f M_y: %f M_z: %f\n\r",  controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
+    //pc_->printf("F: %f M_x: %f M_y: %f M_z: %f\n\r",  controlInput_.f, controlInput_.mz, controlInput_.my, controlInput_.mz);
     //        pc_->printf("F: %f\n\r",  F);
 
     // set pwm values
@@ -191,6 +191,6 @@
     F_des_ = ((thrust - 0.5) * 80) * M_PI / 180;
     
     // print id with thrust, yaw, pitch, and roll
-    pc_->printf("%lld: thrust: %f, yaw: %f, pitch: %f, roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi);
+   // pc_->printf("%lld: thrust: %f, yaw: %f, pitch: %f, roll: %f\r\n", id, F_des_, desiredState_.psi, desiredState_.theta, desiredState_.phi);
 }