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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
2025-07-09 12:39:16 -08:00
committed by Alex Klimaj
parent 6a1cefd7a6
commit 09ebd21e55
37 changed files with 120 additions and 228 deletions
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src/lib/mixer_module/mixer_module.cpp
+1 -5
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@@ -473,16 +473,12 @@ bool MixingOutput::update()
void
MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates)
{
bool stop_motors = !_throttle_armed && !_actuator_test.inTestMode();
if (_armed.lockdown || _armed.manual_lockdown) {
// overwrite outputs in case of lockdown with disarmed values
for (size_t i = 0; i < _max_num_outputs; i++) {
_current_output_value[i] = _disarmed_value[i];
}
stop_motors = true;
} else if (_armed.force_failsafe) {
// overwrite outputs in case of force_failsafe with _failsafe_value values
for (size_t i = 0; i < _max_num_outputs; i++) {
@@ -513,7 +509,7 @@ MixingOutput::limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updat
}
/* now return the outputs to the driver */
if (_interface.updateOutputs(stop_motors, _current_output_value, _max_num_outputs, has_updates)) {
if (_interface.updateOutputs(_current_output_value, _max_num_outputs, has_updates)) {
actuator_outputs_s actuator_outputs{};
setAndPublishActuatorOutputs(_max_num_outputs, actuator_outputs);