uavcan: delete unused ESC idle and soft_stop

msg/actuator_armed.msg

@@ -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

src/drivers/uavcan/uavcan_main.cpp

@@ -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)
 {

src/drivers/uavcan/uavcan_main.hpp

@@ -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")};
 

src/drivers/uavcan/uavcan_module.hpp

@@ -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[]);

src/drivers/uavcan/uavcan_params.c

@@ -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
  *

src/modules/commander/Commander.cpp

@@ -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.in_esc_calibration_mode == b.in_esc_calibration_mode);
-		a.soft_stop == b.soft_stop);
 }
 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;
-		}
 	}
 }