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uavcan: remove redundant loop

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This commit is contained in:
ttechnick 2026-02-12 11:44:11 +01:00 committed by Nick
parent 6a18fd045f
commit 8478503349
2 changed files with 5 additions and 14 deletions
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15
src/drivers/uavcan/actuators/esc.cpp
View File

@ -54,8 +54,7 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
_uavcan_pub_raw_cmd.setPriority(uavcan::TransferPriority::NumericallyMin); // Highest priority
}
int
UavcanEscController::init()
int UavcanEscController::init()
{
// ESC status subscription
int res = _uavcan_sub_status.start(StatusCbBinder(this, &UavcanEscController::esc_status_sub_cb));
@ -86,8 +85,7 @@ UavcanEscController::init()
return res;
}
void
UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], uint8_t output_array_size)
void UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], uint8_t output_array_size)
{
// TODO: configurable rate limit
const auto timestamp = _node.getMonotonicTime();
@ -107,14 +105,12 @@ UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], uint8_t out
_uavcan_pub_raw_cmd.broadcast(msg);
}
void
UavcanEscController::set_rotor_count(uint8_t count)
void UavcanEscController::set_rotor_count(uint8_t count)
{
_rotor_count = count;
}
void
UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
void UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::esc::Status> &msg)
{
if (msg.esc_index < esc_status_s::CONNECTED_ESC_MAX) {
esc_report_s &esc_report = _esc_status.esc[msg.esc_index];
@ -158,8 +154,7 @@ void UavcanEscController::esc_status_extended_sub_cb(const uavcan::ReceivedDataS
}
}
uint8_t
UavcanEscController::check_escs_status()
uint8_t UavcanEscController::check_escs_status()
{
int esc_status_flags = 0;
const hrt_abstime now = hrt_absolute_time();

4
src/modules/commander/failure_detector/FailureDetector.cpp
View File

@ -183,10 +183,6 @@ void FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status, c
bool is_esc_failure = !is_all_escs_armed;
for (int i = 0; i < limited_esc_count; i++) {
is_esc_failure = is_esc_failure;
}
_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);
_esc_failure_hysteresis.set_state_and_update(is_esc_failure, now);