From 4f55f5ba0faef12df3f2d7e0400c5504fa40eb09 Mon Sep 17 00:00:00 2001
From: Ryan Rodriguez <ryan.and.rodriguez@gmail.com>
Date: Sat, 16 Nov 2024 00:33:46 -0800
Subject: [PATCH] cleanup thrust and torque logging

---
 Cargo.toml               |  2 ++
 config/liftoff_quad.yaml |  1 +
 src/lib.rs               | 13 +------------
 3 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/Cargo.toml b/Cargo.toml
index e00f8ad3..ed2cd474 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -42,3 +42,5 @@ tokio = { version = "1.41.0", features = ["full"] }
 binrw = "0.14.1"
 cyber_rc = { git = "https://github.com/friend0/CyberRC.git" }
 serialport = "4.6.0"
+tempfile = "3.14.0"
+prost = "0.13.3"
diff --git a/config/liftoff_quad.yaml b/config/liftoff_quad.yaml
index a81bbca4..9ad1bba0 100644
--- a/config/liftoff_quad.yaml
+++ b/config/liftoff_quad.yaml
@@ -23,6 +23,7 @@ quadrotor:
   max_thrust_kg: .5
   arm_length_m: .065
   yaw_torque_constant: .0052
+  serial_port: null
 
 pid_controller:
   pos_gains: # PID gains for position control
diff --git a/src/lib.rs b/src/lib.rs
index 41580631..d4549df6 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -722,6 +722,7 @@ impl PIDController {
         let gravity_compensation = Vector3::new(0.0, 0.0, self.gravity);
         let total_acceleration = acceleration + gravity_compensation;
         let total_acc_norm = total_acceleration.norm();
+        // TODO thrust limits
         let thrust = self.mass * total_acc_norm;
         let desired_orientation = if total_acc_norm > 1e-6 {
             let z_body = total_acceleration / total_acc_norm;
@@ -2451,18 +2452,6 @@ pub fn log_data(
             .with_radii([0.1])
             .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
     )?;
-    rec.log(
-        "world/quad/desired_torque",
-        &rerun::Points3D::new([(torque.x, torque.y, torque.z)])
-            .with_radii([0.1])
-            .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
-    )?;
-    rec.log(
-        "world/quad/thrust",
-        &rerun::Points3D::new([(torque.x, torque.y, torque.z)])
-            .with_radii([0.2])
-            .with_colors([rerun::Color::from_rgb(255, 255, 255)]),
-    )?;
     rec.log(
         "world/quad/base_link",
         &rerun::Transform3D::from_translation_rotation(