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uavcan_v1: add dynamic mixing support

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This commit is contained in:
Beat Küng
2021-10-18 18:45:19 -04:00
committed by Daniel Agar
parent ae15ad14a8
commit 0871b7974d
3 changed files with 14 additions and 5 deletions
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src/drivers/uavcan_v1/Uavcan.cpp
+1 -5
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@@ -115,8 +115,6 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
_pub_manager.updateParams();
_sub_manager.subscribe();
_mixing_output.mixingOutput().updateSubscriptions(false, false);
}
UavcanNode::~UavcanNode()
@@ -218,8 +216,6 @@ void UavcanNode::Run()
_sub_manager.updateParams();
_mixing_output.updateParams();
_mixing_output.mixingOutput().updateSubscriptions(false, false);
}
perf_begin(_cycle_perf);
@@ -521,6 +517,6 @@ void UavcanMixingInterface::Run()
{
pthread_mutex_lock(&_node_mutex);
_mixing_output.update();
_mixing_output.updateSubscriptions(false, false);
_mixing_output.updateSubscriptions();
pthread_mutex_unlock(&_node_mutex);
}