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Cleanup debugs and USE_ defines that are always on

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2019-10-31 21:04:05 +01:00
parent fdcd628cab
commit c538e2eb58
12 changed files with 17 additions and 188 deletions
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3
src/main/navigation/navigation.c
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@ -2391,9 +2391,6 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti
// Fixed wing climb rate controller is open-loop. We simply move the known altitude target
float timeDelta = US2S(currentTimeUs - lastUpdateTimeUs);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 0, desiredClimbRate);
DEBUG_SET(DEBUG_FW_CLIMB_RATE_TO_ALTITUDE, 1, timeDelta * 1000);
if (timeDelta <= HZ2S(MIN_POSITION_UPDATE_RATE_HZ)) {
posControl.desiredState.pos.z += desiredClimbRate * timeDelta;
posControl.desiredState.pos.z = constrainf(posControl.desiredState.pos.z, altitudeToUse - 500, altitudeToUse + 500); // FIXME: calculate sanity limits in a smarter way