backup commit,some test modify

ArduCopter/mode_loiter.cpp

@@ -113,11 +113,6 @@ void ModeLoiter::run()
     // Loiter State Machine Determination
     AltHoldModeState loiter_state = get_alt_hold_state(target_climb_rate);
 
-        static uint8_t last_state;
-        if(last_state != loiter_state){
-            gcs().send_text(MAV_SEVERITY_INFO, "loiter_state %d ",loiter_state );
-            last_state = loiter_state;
-        }
     // Loiter State Machine
     switch (loiter_state) {
 

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -461,7 +461,6 @@ void AC_Avoid::adjust_velocity_inclusion_circles(float kP, float accel_cmss, Vec
 
     // get the margin to the fence in cm
     const float margin_cm = fence->get_margin() * 100.0f;
-    gcs().send_text(MAV_SEVERITY_INFO, "----  margin_cm %f ----",margin_cm );
 
     // get stopping distance as an offset from the vehicle
     Vector2f stopping_offset;
@@ -515,8 +514,6 @@ void AC_Avoid::adjust_velocity_inclusion_circles(float kP, float accel_cmss, Vec
                     // implement stopping behaviour
                     const Vector2f stopping_point_plus_margin = position_NE_rel + stopping_offset;
                     const float dist_cm = safe_sqrt(dist_sq_cm);
-    gcs().send_text(MAV_SEVERITY_INFO, "----  dist_cm %f ----",dist_cm );
-
                     if (dist_cm >= radius_cm - margin_cm) {
                         // vehicle has already breached margin around fence
                         // if stopping point is even further from center (i.e. in wrong direction) then adjust speed to zero
@@ -581,7 +578,6 @@ void AC_Avoid::adjust_velocity_exclusion_circles(float kP, float accel_cmss, Vec
 
     // get the margin to the fence in cm
     const float margin_cm = fence->get_margin() * 100.0f;
-    gcs().send_text(MAV_SEVERITY_INFO, "----  margin_cm %f , speed: %f  ----",margin_cm ,desired_speed);
 
     // calculate stopping distance as an offset from the vehicle (only used for BEHAVIOR_STOP)
     // add a margin so we look forward far enough to intersect with circular fence
@@ -628,8 +624,6 @@ void AC_Avoid::adjust_velocity_exclusion_circles(float kP, float accel_cmss, Vec
                     // implement stopping behaviour
                     const Vector2f stopping_point_plus_margin = position_NE_rel + stopping_offset;
                     const float dist_cm = safe_sqrt(dist_sq_cm);
-    gcs().send_text(MAV_SEVERITY_INFO, "----  margin_cm %f ,adjust_velocity_exclusion_circles  ----",dist_cm );
-
                     if (dist_cm < radius_cm + margin_cm) {
                         // vehicle has already breached margin around fence
                         // if stopping point is closer to center (i.e. in wrong direction) then adjust speed to zero

libraries/AC_WPNav/AC_Loiter.cpp

@@ -309,6 +309,7 @@ void AC_Loiter::calc_desired_velocity(float nav_dt)
     if (_avoid != nullptr) {
         _avoid->adjust_velocity(_pos_control.get_pos_xy_p().kP(), _accel_cmss, desired_vel, nav_dt);
     }
+
     // send adjusted feed forward acceleration and velocity back to the Position Controller
     _pos_control.set_desired_accel_xy(_desired_accel.x, _desired_accel.y);
     _pos_control.set_desired_velocity_xy(desired_vel.x, desired_vel.y);

libraries/AC_WPNav/AC_WPNav_OA.cpp

@@ -83,13 +83,6 @@ bool AC_WPNav_OA::update_wpnav()
         const Location destination_loc(_destination_oabak);
         Location oa_origin_new, oa_destination_new;
         const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new);
-        
-        static uint8_t last_state;
-        
-        if(last_state != oa_retstate){
-            gcs().send_text(MAV_SEVERITY_INFO, "----  oa_retstate %d  ----",oa_retstate );
-            last_state = oa_retstate;
-        }
         switch (oa_retstate) {
         case AP_OAPathPlanner::OA_NOT_REQUIRED:
             if (_oa_state != oa_retstate) {