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Temporary logging addition to debug CI

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This commit is contained in:
Matthias Grob
2020-10-25 10:04:28 +01:00
committed by Daniel Agar
parent fafbb687d8
commit e92795b474
2 changed files with 3 additions and 0 deletions
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msg/vehicle_constraints.msg
+2
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@@ -13,3 +13,5 @@ float32 max_distance_to_ground # in meters
bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight) bool want_takeoff # tell the controller to initiate takeoff when idling (ignored during flight)
bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air bool reset_integral # tells controller to reset integrators e.g. since we know the vehicle is not in air
float32 minimum_thrust # tell controller what the minimum collective output thrust should be float32 minimum_thrust # tell controller what the minimum collective output thrust should be
uint32 flight_task
src/modules/flight_mode_manager/FlightModeManager.cpp
+1
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@@ -485,6 +485,7 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
_time_stamp_last_loop); _time_stamp_last_loop);
constraints.speed_up = _takeoff.updateRamp(dt, constraints.speed_up); constraints.speed_up = _takeoff.updateRamp(dt, constraints.speed_up);
constraints.flight_task = _flight_tasks.getActiveTask();
_vehicle_constraints_pub.publish(constraints); _vehicle_constraints_pub.publish(constraints);
if (not_taken_off) { if (not_taken_off) {