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tap_esc: removed redundant _initialized member

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alessandro
2018-04-12 11:12:50 +02:00
committed by Beat Küng
parent b49ccb889c
commit 1ab2d22e42
1 changed files with 28 additions and 39 deletions
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src/drivers/tap_esc/tap_esc.cpp
+28 -39
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@@ -136,7 +136,6 @@ private:
MixerGroup *_mixers;
uint32_t _groups_required;
uint32_t _groups_subscribed;
volatile bool _initialized;
unsigned _pwm_default_rate;
unsigned _current_update_rate;
ESC_UART_BUF uartbuf;
@@ -180,7 +179,6 @@ TAP_ESC::TAP_ESC():
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
_initialized(false),
_pwm_default_rate(400),
_current_update_rate(0)
@@ -209,29 +207,26 @@ TAP_ESC::TAP_ESC():
TAP_ESC::~TAP_ESC()
{
if (_initialized) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] >= 0) {
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] >= 0) {
orb_unsubscribe(_control_subs[i]);
_control_subs[i] = -1;
}
orb_unsubscribe(_armed_sub);
_armed_sub = -1;
orb_unsubscribe(_test_motor_sub);
_test_motor_sub = -1;
orb_unsubscribe(_params_sub);
orb_unadvertise(_outputs_pub);
orb_unadvertise(_esc_feedback_pub);
orb_unadvertise(_to_mixer_status);
tap_esc_common::deinitialise_uart(_uart_fd);
DEVICE_LOG("stopping");
_initialized = false;
}
orb_unsubscribe(_armed_sub);
_armed_sub = -1;
orb_unsubscribe(_test_motor_sub);
_test_motor_sub = -1;
orb_unsubscribe(_params_sub);
orb_unadvertise(_outputs_pub);
orb_unadvertise(_esc_feedback_pub);
orb_unadvertise(_to_mixer_status);
tap_esc_common::deinitialise_uart(_uart_fd);
DEVICE_LOG("stopping");
}
/** @see ModuleBase */
@@ -262,8 +257,6 @@ TAP_ESC::init()
{
int ret;
ASSERT(!_initialized);
ret = tap_esc_common::initialise_uart(_device, _uart_fd);
if (ret < 0) {
@@ -329,6 +322,16 @@ TAP_ESC::init()
ret = CDev::init();
/* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
_esc_feedback_pub = orb_advertise(ORB_ID(esc_status), &_esc_feedback);
multirotor_motor_limits_s multirotor_motor_limits = {};
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
return ret;
}
@@ -403,20 +406,6 @@ void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm)
void
TAP_ESC::cycle()
{
if (!_initialized) {
_current_update_rate = 0;
/* advertise the mixed control outputs, insist on the first group output */
_outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
_esc_feedback_pub = orb_advertise(ORB_ID(esc_status), &_esc_feedback);
multirotor_motor_limits_s multirotor_motor_limits = {};
_to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
_armed_sub = orb_subscribe(ORB_ID(actuator_armed));
_test_motor_sub = orb_subscribe(ORB_ID(test_motor));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_initialized = true;
}
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;