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uavcan: remove actuator_direct (no publisher)

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This commit is contained in:
Beat Küng
2019-11-07 10:40:03 +01:00
parent 06f20ad892
commit 0db0981b1b
7 changed files with 6 additions and 47 deletions
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src/drivers/uavcan/uavcan_main.cpp
-29
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@@ -139,8 +139,6 @@ UavcanNode::~UavcanNode()
} while (_task != -1);
}
(void)orb_unsubscribe(_actuator_direct_sub);
// Removing the sensor bridges
_sensor_bridges.clear();
@@ -763,8 +761,6 @@ UavcanNode::run()
// XXX figure out the output count
_output_count = 2;
_actuator_direct_sub = orb_subscribe(ORB_ID(actuator_direct));
actuator_outputs_s outputs{};
// Set up the time synchronization
@@ -808,14 +804,6 @@ UavcanNode::run()
*/
add_poll_fd(busevent_fd);
/*
* setup poll to look for actuator direct input if we are
* subscribed to the topic
*/
if (_actuator_direct_sub != -1) {
_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
}
update_params();
while (!_task_should_exit) {
@@ -886,23 +874,6 @@ UavcanNode::run()
}
}
// see if we have any direct actuator updates
actuator_direct_s actuator_direct{};
if (_actuator_direct_sub != -1 &&
(_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &actuator_direct) == OK &&
!_test_in_progress) {
if (actuator_direct.nvalues > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
actuator_direct.nvalues = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
}
memcpy(&outputs.output[0], &actuator_direct.values[0], actuator_direct.nvalues * sizeof(float));
outputs.noutputs = actuator_direct.nvalues;
new_output = true;
}
// can we mix?
if (_test_in_progress) {