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uavcan: delete unused ESC idle and soft_stop

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This commit is contained in:
Daniel Agar 2022-08-24 17:47:17 -04:00
parent bdec17a9d4
commit 4ec9e2f216
6 changed files with 3 additions and 50 deletions
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1
msg/actuator_armed.msg
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@ -7,4 +7,3 @@ bool lockdown # Set to true if actuators are forced to being disabled (due to e
bool manual_lockdown # Set to true if manual throttle kill switch is engaged
bool force_failsafe # Set to true if the actuators are forced to the failsafe position
bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
bool soft_stop # Set to true if we need to ESCs to remove the idle constraint

21
src/drivers/uavcan/uavcan_main.cpp
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@ -58,7 +58,6 @@
#include <uORB/topics/esc_status.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_pwm_output.h>
#include "uavcan_module.hpp"
#include "uavcan_main.hpp"
@ -76,7 +75,6 @@
UavcanNode *UavcanNode::_instance;
UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &system_clock) :
CDev(UAVCAN_DEVICE_PATH),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
ModuleParams(nullptr),
_node(can_driver, system_clock, _pool_allocator),
@ -492,13 +490,6 @@ UavcanNode::busevent_signal_trampoline()
int
UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
{
// Do regular cdev init
int ret = CDev::init();
if (ret != OK) {
return ret;
}
bus_events.registerSignalCallback(UavcanNode::busevent_signal_trampoline);
_node.setName("org.pixhawk.pixhawk");
@ -507,7 +498,7 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
fill_node_info();
ret = _beep_controller.init();
int ret = _beep_controller.init();
if (ret < 0) {
return ret;
@ -688,10 +679,6 @@ UavcanNode::Run()
_node.spinOnce(); // expected to be non-blocking
// Check arming state
const actuator_armed_s &armed = _mixing_interface_esc.mixingOutput().armed();
enable_idle_throttle_when_armed(!armed.soft_stop);
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
@ -918,12 +905,6 @@ UavcanNode::Run()
}
}
void
UavcanNode::enable_idle_throttle_when_armed(bool value)
{
value &= _idle_throttle_when_armed_param > 0;
}
bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
unsigned num_control_groups_updated)
{

7
src/drivers/uavcan/uavcan_main.hpp
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@ -146,7 +146,7 @@ private:
/**
* A UAVCAN node.
*/
class UavcanNode : public cdev::CDev, public px4::ScheduledWorkItem, public ModuleParams
class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams
{
static constexpr unsigned MaxBitRatePerSec = 1000000;
static constexpr unsigned bitPerFrame = 148;
@ -212,8 +212,6 @@ private:
void set_setget_response(uavcan::protocol::param::GetSet::Response *resp) { _setget_response = resp; }
void free_setget_response(void) { _setget_response = nullptr; }
void enable_idle_throttle_when_armed(bool value);
px4::atomic_bool _task_should_exit{false}; ///< flag to indicate to tear down the CAN driver
unsigned _output_count{0}; ///< number of actuators currently available
@ -243,9 +241,6 @@ private:
List<IUavcanSensorBridge *> _sensor_bridges; ///< List of active sensor bridges
bool _idle_throttle_when_armed{false};
int32_t _idle_throttle_when_armed_param{0};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};

5
src/drivers/uavcan/uavcan_module.hpp
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@ -58,10 +58,5 @@
#define UAVCAN_NODE_DB_PATH UAVCAN_SD_ROOT_PATH"/uavcan.db"
#define UAVCAN_LOG_FILE UAVCAN_NODE_DB_PATH"/trace.log"
// device files
// TODO: split IOCTL interface in ESC and node related functionality, then change UAVCAN_DEVICE_PATH to "/dev/uavcan/node"
#define UAVCAN_DEVICE_PATH "/dev/uavcan/esc"
#define UAVCAN_ESC_DEVICE_PATH "/dev/uavcan/esc"
// public prototypes
extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);

9
src/drivers/uavcan/uavcan_params.c
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@ -77,15 +77,6 @@ PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
*/
PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);
/**
* UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
*
* @boolean
* @reboot_required true
* @group UAVCAN
*/
PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
/**
* UAVCAN rangefinder minimum range
*

10
src/modules/commander/Commander.cpp
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@ -97,8 +97,7 @@ static constexpr bool operator ==(const actuator_armed_s &a, const actuator_arme
a.lockdown == b.lockdown &&
a.manual_lockdown == b.manual_lockdown &&
a.force_failsafe == b.force_failsafe &&
a.in_esc_calibration_mode == b.in_esc_calibration_mode &&
a.soft_stop == b.soft_stop);
a.in_esc_calibration_mode == b.in_esc_calibration_mode);
}
static_assert(sizeof(actuator_armed_s) == 16, "actuator_armed equality operator review");
@ -2545,13 +2544,6 @@ void Commander::vtolStatusUpdate()
_vehicle_status_flags.vtol_transition_failure = _vtol_vehicle_status.vtol_transition_failsafe;
_status_changed = true;
}
const bool should_soft_stop = (_vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
if (_actuator_armed.soft_stop != should_soft_stop) {
_actuator_armed.soft_stop = should_soft_stop;
_status_changed = true;
}
}
}