fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 02:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

uavcan: remove actuator_direct (no publisher)

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/uavcan/uavcan_main.hpp
+2 -7
View File
@@ -65,15 +65,14 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_direct.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/test_motor.h>
#define NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN 4
// we add two to allow for actuator_direct and busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+2)
// we add 1 to allow for busevent
#define UAVCAN_NUM_POLL_FDS (NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN+1)
/**
* A UAVCAN node.
@@ -204,10 +203,6 @@ private:
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _test_motor_sub{ORB_ID(test_motor)};
int _actuator_direct_sub{-1}; ///< uORB subscription of the actuator_direct topic
uint8_t _actuator_direct_poll_fd_num{0};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _control_latency_perf;