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mixer: remove used flag stop_outputs

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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
This commit is contained in:
Jacob Dahl
2025-07-11 08:53:52 -06:00
committed by Alex Klimaj
parent 6a1cefd7a6
commit 09ebd21e55
37 changed files with 120 additions and 228 deletions
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src/drivers/cyphal/Actuators/EscClient.hpp
+1 -1
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@@ -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
+2 -2
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@@ -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
+1 -1
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@@ -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(); }