From f7415c33540650d79b3d79f824853aa60ccdbae4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 29 Jul 2020 10:26:52 -0400 Subject: [PATCH] optical_flow/paw3902: silence info output (info -> debug) --- src/drivers/optical_flow/paw3902/PAW3902.cpp | 26 ++++---------------- 1 file changed, 5 insertions(+), 21 deletions(-) diff --git a/src/drivers/optical_flow/paw3902/PAW3902.cpp b/src/drivers/optical_flow/paw3902/PAW3902.cpp index 302340b4d6..0a299e0bdf 100644 --- a/src/drivers/optical_flow/paw3902/PAW3902.cpp +++ b/src/drivers/optical_flow/paw3902/PAW3902.cpp @@ -91,7 +91,7 @@ PAW3902::probe() { 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 if (product_id != PRODUCT_ID) { @@ -99,7 +99,7 @@ PAW3902::probe() } 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) { return PX4_ERROR; @@ -131,7 +131,7 @@ bool PAW3902::changeMode(Mode newMode) { if (newMode != _mode) { - PX4_INFO("changing from mode %d -> %d", static_cast(_mode), static_cast(newMode)); + PX4_DEBUG("changing from mode %d -> %d", static_cast(_mode), static_cast(newMode)); ScheduleClear(); reset(); @@ -162,8 +162,8 @@ PAW3902::changeMode(Mode newMode) // 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. uint8_t resolution = registerRead(Register::Resolution); - PX4_INFO("Resolution: %X", resolution); - PX4_INFO("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f))); + PX4_DEBUG("Resolution: %X", resolution); + PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f))); return true; } @@ -562,19 +562,6 @@ PAW3902::RunImpl() // update for next iteration _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_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{}; 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_y_integral = (float)_flow_sum_y / 500.0f; // proportional factor + convert from pixels to radians