Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-27 18:27:05 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

optical_flow/paw3902: silence info output (info -> debug)

Browse Source
This commit is contained in:
Daniel Agar
2020-07-29 10:26:52 -04:00
parent 86365949f6
commit f7415c3354
1 changed files with 5 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/optical_flow/paw3902/PAW3902.cpp
+5 -21
View File
@@ -91,7 +91,7 @@ PAW3902::probe()
{ {
uint8_t product_id = registerRead(Register::Product_ID); uint8_t product_id = registerRead(Register::Product_ID);
PX4_INFO("DEVICE_ID: %X", product_id); PX4_DEBUG("DEVICE_ID: %X", product_id);
// Test the SPI communication, checking chipId and inverse chipId // Test the SPI communication, checking chipId and inverse chipId
if (product_id != PRODUCT_ID) { if (product_id != PRODUCT_ID) {
@@ -99,7 +99,7 @@ PAW3902::probe()
} }
uint8_t revision_id = registerRead(Register::Revision_ID); uint8_t revision_id = registerRead(Register::Revision_ID);
PX4_INFO("REVISION_ID: %X", revision_id); PX4_DEBUG("REVISION_ID: %X", revision_id);
if (revision_id != REVISION_ID) { if (revision_id != REVISION_ID) {
return PX4_ERROR; return PX4_ERROR;
@@ -131,7 +131,7 @@ bool
PAW3902::changeMode(Mode newMode) PAW3902::changeMode(Mode newMode)
{ {
if (newMode != _mode) { if (newMode != _mode) {
PX4_INFO("changing from mode %d -> %d", static_cast<int>(_mode), static_cast<int>(newMode)); PX4_DEBUG("changing from mode %d -> %d", static_cast<int>(_mode), static_cast<int>(newMode));
ScheduleClear(); ScheduleClear();
reset(); reset();
@@ -162,8 +162,8 @@ PAW3902::changeMode(Mode newMode)
// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19 // Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
// The maximum register value is 0xA8. The minimum register value is 0. // The maximum register value is 0xA8. The minimum register value is 0.
uint8_t resolution = registerRead(Register::Resolution); uint8_t resolution = registerRead(Register::Resolution);
PX4_INFO("Resolution: %X", resolution); PX4_DEBUG("Resolution: %X", resolution);
PX4_INFO("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f))); PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));
return true; return true;
} }
@@ -562,19 +562,6 @@ PAW3902::RunImpl()
// update for next iteration // update for next iteration
_previous_collect_timestamp = timestamp_sample; _previous_collect_timestamp = timestamp_sample;
// PX4_INFO("data.Motion %d", buf.data.Motion);
// PX4_INFO("data.Observation %d", buf.data.Observation);
// PX4_INFO("data.Delta_X_L %d", buf.data.Delta_X_L);
// PX4_INFO("data.Delta_X_H %d", buf.data.Delta_X_H);
// PX4_INFO("data.Delta_Y_L %d", buf.data.Delta_Y_L);
// PX4_INFO("data.Delta_Y_H %d", buf.data.Delta_Y_H);
// PX4_INFO("data.SQUAL %d", buf.data.SQUAL);
// PX4_INFO("data.RawData_Sum %d", buf.data.RawData_Sum);
// PX4_INFO("data.Maximum_RawData %d", buf.data.Maximum_RawData);
// PX4_INFO("data.Minimum_RawData %d", buf.data.Minimum_RawData);
// PX4_INFO("data.Shutter_Upper %d", buf.data.Shutter_Upper);
// PX4_INFO("data.Shutter_Lower %d", buf.data.Shutter_Lower);
const int16_t delta_x_raw = ((int16_t)buf.data.Delta_X_H << 8) | buf.data.Delta_X_L; const int16_t delta_x_raw = ((int16_t)buf.data.Delta_X_H << 8) | buf.data.Delta_X_L;
const int16_t delta_y_raw = ((int16_t)buf.data.Delta_Y_H << 8) | buf.data.Delta_Y_L; const int16_t delta_y_raw = ((int16_t)buf.data.Delta_Y_H << 8) | buf.data.Delta_Y_L;
@@ -662,9 +649,6 @@ PAW3902::RunImpl()
optical_flow_s report{}; optical_flow_s report{};
report.timestamp = timestamp_sample; report.timestamp = timestamp_sample;
//PX4_INFO("X: %d Y: %d", _flow_sum_x, _flow_sum_y);
report.pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians report.pixel_flow_x_integral = (float)_flow_sum_x / 500.0f; // proportional factor + convert from pixels to radians
report.pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians report.pixel_flow_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians