mixer: remove used flag stop_outputs

dshot: fix motor test on CANnode

Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver

src/drivers/actuators/vertiq_io/vertiq_io.cpp

@@ -195,7 +195,7 @@ void VertiqIo::OutputControls(uint16_t outputs[MAX_ACTUATORS])
 	_serial_interface.ProcessSerialTx();
 }
 
-bool VertiqIo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool VertiqIo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 			     unsigned num_control_groups_updated)
 {
 #ifdef CONFIG_USE_IFCI_CONFIGURATION

src/drivers/actuators/vertiq_io/vertiq_io.hpp

@@ -94,7 +94,7 @@ public:
 	void print_info();
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	/**

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -1196,7 +1196,7 @@ void VoxlEsc::mix_turtle_mode(uint16_t outputs[MAX_ACTUATORS])
 }
 
 /* OutputModuleInterface */
-bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			    unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	//in Run() we call _mixing_output.update(), which calls MixingOutput::limitAndUpdateOutputs which calls _interface.updateOutputs (this function)
@@ -1212,7 +1212,7 @@ bool VoxlEsc::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	}
 
 	for (int i = 0; i < VOXL_ESC_OUTPUT_CHANNELS; i++) {
-		if (!_outputs_on || stop_motors) {
+		if (!_outputs_on) {
 			_esc_chans[i].rate_req = 0;
 
 		} else {

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -81,7 +81,7 @@ public:
 	void print_params();
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	virtual int	init();

src/drivers/cyphal/Actuators/EscClient.hpp

@@ -169,7 +169,7 @@ public:
 	{
 	}
 
-	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
+	void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
 	{
 		if (_port_id == 0 || _port_id == CANARD_PORT_ID_UNSET) {
 			return;

src/drivers/cyphal/Cyphal.cpp

@@ -435,7 +435,7 @@ void CyphalNode::sendPortList()
 	_uavcan_node_port_List_last = now;
 }
 
-bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool UavcanMixingInterface::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
 	// Note: This gets called from MixingOutput from within its update() function
@@ -445,7 +445,7 @@ bool UavcanMixingInterface::updateOutputs(bool stop_motors, uint16_t outputs[MAX
 	auto publisher = static_cast<UavcanEscController *>(_pub_manager.getPublisher("esc"));
 
 	if (publisher) {
-		publisher->update_outputs(stop_motors, outputs, num_outputs);
+		publisher->update_outputs(outputs, num_outputs);
 	}
 
 	return true;

src/drivers/cyphal/Cyphal.hpp

@@ -87,7 +87,7 @@ public:
 		  _node_mutex(node_mutex),
 		  _pub_manager(pub_manager) {}
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	void printInfo() { _mixing_output.printStatus(); }

src/drivers/dshot/DShot.cpp

@@ -58,6 +58,9 @@ DShot::~DShot()
 	up_dshot_arm(false);
 
 	perf_free(_cycle_perf);
+	perf_free(_bdshot_rpm_perf);
+	perf_free(_dshot_telem_perf);
+
 	delete _telemetry;
 }
 
@@ -248,6 +251,8 @@ int DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelem
 
 	_last_telemetry_index = telemetry_index;
 
+	perf_count(_dshot_telem_perf);
+
 	return ret;
 }
 
@@ -323,10 +328,10 @@ int DShot::handle_new_bdshot_erpm(void)
 
 			++telemetry_index;
 		}
-
-
 	}
 
+	perf_count(_bdshot_rpm_perf);
+
 	return num_erpms;
 }
 
@@ -362,59 +367,12 @@ int DShot::send_command_thread_safe(const dshot_command_t command, const int num
 	return 0;
 }
 
-void DShot::retrieve_and_print_esc_info_thread_safe(const int motor_index)
-{
-	if (_request_esc_info.load() != nullptr) {
-		// already in progress (not expected to ever happen)
-		return;
-	}
-
-	DShotTelemetry::OutputBuffer output_buffer{};
-	output_buffer.motor_index = motor_index;
-
-	// start the request
-	_request_esc_info.store(&output_buffer);
-
-	// wait until processed
-	int max_time = 1000;
-
-	while (_request_esc_info.load() != nullptr && max_time-- > 0) {
-		px4_usleep(1000);
-	}
-
-	_request_esc_info.store(nullptr); // just in case we time out...
-
-	if (output_buffer.buf_pos == 0) {
-		PX4_ERR("No data received. If telemetry is setup correctly, try again");
-		return;
-	}
-
-	DShotTelemetry::decodeAndPrintEscInfoPacket(output_buffer);
-}
-
-int DShot::request_esc_info()
-{
-	_telemetry->redirectOutput(*_request_esc_info.load());
-	_waiting_for_esc_info = true;
-
-	int motor_index = _request_esc_info.load()->motor_index;
-
-	_current_command.motor_mask = 1 << motor_index;
-	_current_command.num_repetitions = 1;
-	_current_command.command = DShot_cmd_esc_info;
-	_current_command.save = false;
-
-	PX4_DEBUG("Requesting ESC info for motor %i", motor_index);
-	return motor_index;
-}
-
 void DShot::mixerChanged()
 {
 	update_num_motors();
-
 }
 
-bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool DShot::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	if (!_outputs_on) {
@@ -424,93 +382,47 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	int requested_telemetry_index = -1;
 
 	if (_telemetry) {
-		// check for an ESC info request. We only process it when we're not expecting other telemetry data
-		if (_request_esc_info.load() != nullptr && !_waiting_for_esc_info && stop_motors
-		    && !_telemetry->expectingData() && !_current_command.valid()) {
-			requested_telemetry_index = request_esc_info();
-
-		} else {
-			requested_telemetry_index = _telemetry->getRequestMotorIndex();
-		}
+		requested_telemetry_index = _telemetry->getRequestMotorIndex();
 	}
 
-	if (stop_motors) {
+	int telemetry_index = 0;
 
-		int telemetry_index = 0;
+	for (int i = 0; i < (int)num_outputs; i++) {
+
+		uint16_t output = outputs[i];
+
+		if (output == DSHOT_DISARM_VALUE) {
 
-		// when motors are stopped we check if we have other commands to send
-		for (int i = 0; i < (int)num_outputs; i++) {
 			if (_current_command.valid() && (_current_command.motor_mask & (1 << i))) {
-				// for some reason we need to always request telemetry when sending a command
 				up_dshot_motor_command(i, _current_command.command, true);
 
 			} else {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, telemetry_index == requested_telemetry_index);
 			}
 
-			telemetry_index += _mixing_output.isFunctionSet(i);
-		}
+		} else {
 
-		if (_current_command.valid()) {
-			--_current_command.num_repetitions;
-
-			if (_current_command.num_repetitions == 0 && _current_command.save) {
-				_current_command.save = false;
-				_current_command.num_repetitions = 10;
-				_current_command.command = dshot_command_t::DShot_cmd_save_settings;
-			}
-		}
-
-	} else {
-		int telemetry_index = 0;
-
-		for (int i = 0; i < (int)num_outputs; i++) {
-
-			uint16_t output = outputs[i];
-
-			if (output == DSHOT_DISARM_VALUE) {
-				up_dshot_motor_command(i, DShot_cmd_motor_stop, telemetry_index == requested_telemetry_index);
-
-			} else {
-
-				// DShot 3D splits the throttle ranges in two.
-				// This is in terms of DShot values, code below is in terms of actuator_output
-				// Direction 1) 48 is the slowest, 1047 is the fastest.
-				// Direction 2) 1049 is the slowest, 2047 is the fastest.
-				if (_param_dshot_3d_enable.get() || (_reversible_outputs & (1u << i))) {
-					if (output >= _param_dshot_3d_dead_l.get() && output < _param_dshot_3d_dead_h.get()) {
-						output = DSHOT_DISARM_VALUE;
-
-					} else {
-						bool upper_range = output >= 1000;
-
-						if (upper_range) {
-							output -= 1000;
-
-						} else {
-							output = 999 - output; // lower range is inverted
-						}
-
-						float max_output = 999.f;
-						float min_output = max_output * _param_dshot_min.get();
-						output = math::min(max_output, (min_output + output * (max_output - min_output) / max_output));
-
-						if (upper_range) {
-							output += 1000;
-						}
-
-					}
-				}
-
-				up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
-							telemetry_index == requested_telemetry_index);
+			if (_param_dshot_3d_enable.get() || (_reversible_outputs & (1u << i))) {
+				output = convert_output_to_3d_scaling(output);
 			}
 
-			telemetry_index += _mixing_output.isFunctionSet(i);
+			up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
+						telemetry_index == requested_telemetry_index);
 		}
 
-		// clear commands when motors are running
-		_current_command.clear();
+		telemetry_index += _mixing_output.isFunctionSet(i);
+	}
+
+	// Decrement the command counter
+	if (_current_command.valid()) {
+		--_current_command.num_repetitions;
+
+		// Queue a save command after the burst if save has been requested
+		if (_current_command.num_repetitions == 0 && _current_command.save) {
+			_current_command.save = false;
+			_current_command.num_repetitions = 10;
+			_current_command.command = dshot_command_t::DShot_cmd_save_settings;
+		}
 	}
 
 	up_dshot_trigger();
@@ -518,6 +430,36 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 	return true;
 }
 
+uint16_t DShot::convert_output_to_3d_scaling(uint16_t output)
+{
+	// DShot 3D splits the throttle ranges in two.
+	// This is in terms of DShot values, code below is in terms of actuator_output
+	// Direction 1) 48 is the slowest, 1047 is the fastest.
+	// Direction 2) 1049 is the slowest, 2047 is the fastest.
+	if (output >= _param_dshot_3d_dead_l.get() && output < _param_dshot_3d_dead_h.get()) {
+		return DSHOT_DISARM_VALUE;
+	}
+
+	bool upper_range = output >= 1000;
+
+	if (upper_range) {
+		output -= 1000;
+
+	} else {
+		output = 999 - output; // lower range is inverted
+	}
+
+	float max_output = 999.f;
+	float min_output = max_output * _param_dshot_min.get();
+	output = math::min(max_output, (min_output + output * (max_output - min_output) / max_output));
+
+	if (upper_range) {
+		output += 1000;
+	}
+
+	return output;
+}
+
 void DShot::Run()
 {
 	if (should_exit()) {
@@ -542,14 +484,7 @@ void DShot::Run()
 	if (_telemetry) {
 		const int telem_update = _telemetry->update(_num_motors);
 
-		// Are we waiting for ESC info?
-		if (_waiting_for_esc_info) {
-			if (telem_update != -1) {
-				_request_esc_info.store(nullptr);
-				_waiting_for_esc_info = false;
-			}
-
-		} else if (telem_update >= 0) {
+		if (telem_update >= 0) {
 			const int need_to_publish = handle_new_telemetry_data(telem_update, _telemetry->latestESCData(),
 						    _bidirectional_dshot_enabled);
 
@@ -772,27 +707,6 @@ int DShot::custom_command(int argc, char *argv[])
 		}
 	}
 
-	if (!strcmp(verb, "esc_info")) {
-		if (!is_running()) {
-			PX4_ERR("module not running");
-			return -1;
-		}
-
-		if (motor_index == -1) {
-			PX4_ERR("No motor index specified");
-			return -1;
-		}
-
-		if (!get_instance()->telemetry_enabled()) {
-			PX4_ERR("Telemetry is not enabled, but required to get ESC info");
-			return -1;
-		}
-
-		get_instance()->retrieve_and_print_esc_info_thread_safe(motor_index);
-		return 0;
-	}
-
-
 	if (!is_running()) {
 		int ret = DShot::task_spawn(argc, argv);
 
@@ -810,6 +724,9 @@ int DShot::print_status()
 	PX4_INFO("Outputs used: 0x%" PRIx32, _output_mask);
 	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
 	perf_print_counter(_cycle_perf);
+	perf_print_counter(_bdshot_rpm_perf);
+	perf_print_counter(_dshot_telem_perf);
+
 	_mixing_output.printStatus();
 
 	if (_telemetry) {
@@ -881,9 +798,6 @@ After saving, the reversed direction will be regarded as the normal one. So to r
 	PRINT_MODULE_USAGE_COMMAND_DESCR("beep5", "Send Beep pattern 5");
 	PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based, default=all)", true);
 
-	PRINT_MODULE_USAGE_COMMAND_DESCR("esc_info", "Request ESC information");
-	PRINT_MODULE_USAGE_PARAM_INT('m', -1, 0, 16, "Motor index (1-based)", false);
-
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;

src/drivers/dshot/DShot.h

@@ -76,8 +76,6 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	void retrieve_and_print_esc_info_thread_safe(const int motor_index);
-
 	/**
 	 * Send a dshot command to one or all motors
 	 * This is expected to be called from another thread.
@@ -92,7 +90,7 @@ public:
 
 	bool telemetry_enabled() const { return _telemetry != nullptr; }
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 private:
@@ -131,8 +129,6 @@ private:
 
 	int handle_new_bdshot_erpm(void);
 
-	int request_esc_info();
-
 	void Run() override;
 
 	void update_params();
@@ -141,6 +137,8 @@ private:
 
 	void handle_vehicle_commands();
 
+	uint16_t convert_output_to_3d_scaling(uint16_t output);
+
 	MixingOutput _mixing_output{PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 	uint32_t _reversible_outputs{};
 
@@ -154,11 +152,9 @@ private:
 
 	px4::atomic<Command *> _new_command{nullptr};
 
-	px4::atomic<DShotTelemetry::OutputBuffer *> _request_esc_info{nullptr};
 
 	bool _outputs_initialized{false};
 	bool _outputs_on{false};
-	bool _waiting_for_esc_info{false};
 	bool _bidirectional_dshot_enabled{false};
 
 	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
@@ -167,6 +163,8 @@ private:
 	int _num_motors{0};
 
 	perf_counter_t	_cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+	perf_counter_t	_bdshot_rpm_perf{perf_alloc(PC_COUNT, MODULE_NAME": bdshot rpm")};
+	perf_counter_t	_dshot_telem_perf{perf_alloc(PC_COUNT, MODULE_NAME": dshot telem")};
 
 	Command _current_command{};
 

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -95,7 +95,7 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-bool LinuxPWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool LinuxPWMOut::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 				unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	_pwm_out->send_output_pwm(outputs, num_outputs);

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -71,7 +71,7 @@ public:
 
 	int init();
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 private:

src/drivers/pca9685_pwm_out/main.cpp

@@ -70,7 +70,7 @@ public:
 	static int custom_command(int argc, char *argv[]);
 	static int print_usage(const char *reason = nullptr);
 
-	bool updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
+	bool updateOutputs(uint16_t *outputs, unsigned num_outputs,
 			   unsigned num_control_groups_updated) override;
 
 	int print_status() override;
@@ -136,7 +136,7 @@ int PCA9685Wrapper::init()
 	return PX4_OK;
 }
 
-bool PCA9685Wrapper::updateOutputs(bool stop_motors, uint16_t *outputs, unsigned num_outputs,
+bool PCA9685Wrapper::updateOutputs(uint16_t *outputs, unsigned num_outputs,
 				   unsigned num_control_groups_updated)
 {
 	if (state != STATE::RUNNING) { return false; }

src/drivers/pwm_out/PWMOut.cpp

@@ -125,7 +125,7 @@ bool PWMOut::update_pwm_out_state(bool on)
 	return true;
 }
 
-bool PWMOut::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool PWMOut::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	/* output to the servos */

src/drivers/pwm_out/PWMOut.hpp

@@ -71,7 +71,7 @@ public:
 	/** @see ModuleBase::print_status() */
 	int print_status() override;
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 private:

src/drivers/px4io/px4io.cpp

@@ -153,7 +153,7 @@ public:
 
 	uint16_t		system_status() const { return _status; }
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 			   unsigned num_control_groups_updated) override;
 
 private:
@@ -360,7 +360,7 @@ PX4IO::~PX4IO()
 	perf_free(_interface_write_perf);
 }
 
-bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool PX4IO::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			  unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	for (size_t i = 0; i < num_outputs; i++) {

src/drivers/roboclaw/Roboclaw.cpp

@@ -154,20 +154,14 @@ int Roboclaw::initializeUART()
 	}
 }
 
-bool Roboclaw::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+bool Roboclaw::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			     unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	float right_motor_output = ((float)outputs[0] - 128.0f) / 127.f;
 	float left_motor_output = ((float)outputs[1] - 128.0f) / 127.f;
 
-	if (stop_motors) {
-		setMotorSpeed(Motor::Right, 0.f);
-		setMotorSpeed(Motor::Left, 0.f);
-
-	} else {
-		setMotorSpeed(Motor::Right, right_motor_output);
-		setMotorSpeed(Motor::Left, left_motor_output);
-	}
+	setMotorSpeed(Motor::Right, right_motor_output);
+	setMotorSpeed(Motor::Left, left_motor_output);
 
 	return true;
 }

src/drivers/roboclaw/Roboclaw.hpp

@@ -77,7 +77,7 @@ public:
 	void Run() override;
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	void setMotorSpeed(Motor motor, float value); ///< rev/sec

src/drivers/tap_esc/TAP_ESC.cpp

@@ -241,7 +241,7 @@ void TAP_ESC::send_tune_packet(EscbusTunePacket &tune_packet)
 	tap_esc_common::send_packet(_uart_fd, buzzer_packet, -1);
 }
 
-bool TAP_ESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool TAP_ESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 			    unsigned num_control_groups_updated)
 {
 	if (_initialized) {

src/drivers/tap_esc/TAP_ESC.hpp

@@ -99,7 +99,7 @@ public:
 
 	int init();
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 private:

src/drivers/uavcan/actuators/esc.cpp

@@ -85,10 +85,8 @@ UavcanEscController::init()
 }
 
 void
-UavcanEscController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned total_outputs)
+UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned total_outputs)
 {
-	// TODO: remove stop_motors as it's unnecessary and unused almost everywhere
-
 	// TODO: configurable rate limit
 	const auto timestamp = _node.getMonotonicTime();
 

src/drivers/uavcan/actuators/esc.hpp

@@ -69,7 +69,7 @@ public:
 
 	int init();
 
-	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned total_outputs);
+	void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned total_outputs);
 
 	/**
 	 * Sets the number of rotors and enable timer

src/drivers/uavcan/actuators/servo.cpp

@@ -45,7 +45,7 @@ UavcanServoController::UavcanServoController(uavcan::INode &node) :
 }
 
 void
-UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
+UavcanServoController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
 {
 	uavcan::equipment::actuator::ArrayCommand msg;
 

src/drivers/uavcan/actuators/servo.hpp

@@ -52,7 +52,7 @@ public:
 	UavcanServoController(uavcan::INode &node);
 	~UavcanServoController() = default;
 
-	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
+	void update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs);
 
 private:
 	uavcan::INode								&_node;

src/drivers/uavcan/uavcan_main.cpp

@@ -1012,10 +1012,10 @@ UavcanNode::Run()
 }
 
 #if defined(CONFIG_UAVCAN_OUTPUTS_CONTROLLER)
-bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool UavcanMixingInterfaceESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
-	_esc_controller.update_outputs(stop_motors, outputs, num_outputs);
+	_esc_controller.update_outputs(outputs, num_outputs);
 	return true;
 }
 
@@ -1042,10 +1042,10 @@ void UavcanMixingInterfaceESC::mixerChanged()
 	_esc_controller.set_rotor_count(rotor_count);
 }
 
-bool UavcanMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+bool UavcanMixingInterfaceServo::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
 		unsigned num_control_groups_updated)
 {
-	_servo_controller.update_outputs(stop_motors, outputs, num_outputs);
+	_servo_controller.update_outputs(outputs, num_outputs);
 	return true;
 }
 

src/drivers/uavcan/uavcan_main.hpp

@@ -127,7 +127,7 @@ public:
 		  _node_mutex(node_mutex),
 		  _esc_controller(esc_controller) {}
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	void mixerChanged() override;
@@ -158,7 +158,7 @@ public:
 		  _node_mutex(node_mutex),
 		  _servo_controller(servo_controller) {}
 
-	bool updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
+	bool updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	MixingOutput &mixingOutput() { return _mixing_output; }

src/drivers/voxl2_io/voxl2_io.cpp

@@ -276,7 +276,7 @@ int Voxl2IO::get_version_info()
 	return (got_response == true ? 0 : -1);
 }
 
-bool Voxl2IO::updateOutputs(bool stop_motors, uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS],
+bool Voxl2IO::updateOutputs(uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS],
 			    unsigned num_outputs, unsigned num_control_groups_updated)
 {
 	// Stop Mixer while ESCs are being calibrated
@@ -305,13 +305,7 @@ bool Voxl2IO::updateOutputs(bool stop_motors, uint16_t outputs[input_rc_s::RC_IN
 			_pwm_on = true;
 		}
 
-		//Do we even need this condition? mixer should handle stopping motors anyway by sending the disable command, right?
-		if (0) { //(!_pwm_on || stop_motors) {
-			output_cmds[i] = _parameters.pwm_dis * MIXER_OUTPUT_TO_CMD_SCALE; //0; //convert to ns
-
-		} else {
-			output_cmds[i] = ((uint32_t)outputs[i]) * MIXER_OUTPUT_TO_CMD_SCALE;  //convert to ns
-		}
+		output_cmds[i] = ((uint32_t)outputs[i]) * MIXER_OUTPUT_TO_CMD_SCALE;  //convert to ns
 	}
 
 	Command cmd;

src/drivers/voxl2_io/voxl2_io.hpp

@@ -82,7 +82,7 @@ public:
 	int print_status() override;
 
 	/** @see OutputModuleInterface */
-	bool updateOutputs(bool stop_motors, uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS],
+	bool updateOutputs(uint16_t outputs[input_rc_s::RC_INPUT_MAX_CHANNELS],
 			   unsigned num_outputs, unsigned num_control_groups_updated) override;
 
 	virtual int	init();