减少不必要的log (63809deb) · Commits · Wenxi XU / Mambo

include/ares/ekf/imu_task.c

+8 −8

Original line number	Diff line number	Diff line
		@@ -188,12 +188,12 @@ static void InitQuaternion(const struct device accel_dev, const struct device
		QEKF_INS.GyroBias[X] = matrix1[2][0];
		QEKF_INS.GyroBias[Y] = matrix1[2][1];
		QEKF_INS.GyroBias[Z] = matrix1[2][2];
		printk("AccelBias: %f, %f, %f\n", QEKF_INS.AccelBias[X], QEKF_INS.AccelBias[Y],
		QEKF_INS.AccelBias[Z]);
		printk("AccelBeta: %f, %f, %f\n", QEKF_INS.AccelBeta[X], QEKF_INS.AccelBeta[Y],
		QEKF_INS.AccelBeta[Z]);
		printk("GyroBias: %f, %f, %f\n", QEKF_INS.GyroBias[X], QEKF_INS.GyroBias[Y],
		QEKF_INS.GyroBias[Z]);
		printk("AccelBias: %f, %f, %f\n", (double)QEKF_INS.AccelBias[X],
		(double)QEKF_INS.AccelBias[Y], (double)QEKF_INS.AccelBias[Z]);
		printk("AccelBeta: %f, %f, %f\n", (double)QEKF_INS.AccelBeta[X],
		(double)QEKF_INS.AccelBeta[Y], (double)QEKF_INS.AccelBeta[Z]);
		printk("GyroBias: %f, %f, %f\n", (double)QEKF_INS.GyroBias[X],
		(double)QEKF_INS.GyroBias[Y], (double)QEKF_INS.GyroBias[Z]);
		QEKF_INS.hasStoredBias = true;
		} else {
		LOG_ERR("No stored bias, using default values");
		@@ -239,8 +239,8 @@ static void InitQuaternion(const struct device accel_dev, const struct device
		init_q4[i + 1] =
		axis_rot[i] * sinf(angle / 2.0f); // 轴角公式,第三轴为0(没有z轴分量)
		}
		printk("Init Quaternion: %f, %f, %f, %f\n", init_q4[0], init_q4[1], init_q4[2], init_q4[3]);
		printk("Accel: %f, %f, %f\n", acc_init[X], acc_init[Y], acc_init[Z]);
		// printk("Init Quaternion: %f, %f, %f, %f\n", init_q4[0], init_q4[1], init_q4[2],
		// init_q4[3]); printk("Accel: %f, %f, %f\n", acc_init[X], acc_init[Y], acc_init[Z]);
		}

		int acnt = 0;

include/ares/ekf/matrix_storage.c

+2 −2

Original line number	Diff line number	Diff line
		@@ -117,7 +117,7 @@ static int zms_fs_init(void)
		return -EINVAL;
		}

		LOG_INF("Initializing ZMS on %s: offset=0x%lx, sector_size=%u, sector_count=%u",
		LOG_DBG("Initializing ZMS on %s: offset=0x%lx, sector_size=%u, sector_count=%u",
		fs.flash_device->name, (long)fs.offset, fs.sector_size, fs.sector_count);

		rc = zms_mount(&fs);
		@@ -128,7 +128,7 @@ static int zms_fs_init(void)
		return rc;
		}

		LOG_INF("ZMS mounted successfully.");
		LOG_DBG("ZMS mounted successfully.");
		zms_initialized = true;
		return 0;
		}

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