From 84785033493f0b27be9235d2b0b53b8d54fce879 Mon Sep 17 00:00:00 2001
From: ttechnick <nick.truttmann@auterion.com>
Date: Thu, 12 Feb 2026 11:44:11 +0100
Subject: [PATCH] uavcan: remove redundant loop

---
 src/drivers/uavcan/actuators/esc.cpp              | 15 +++++----------
 .../failure_detector/FailureDetector.cpp          |  4 ----
 2 files changed, 5 insertions(+), 14 deletions(-)

diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index f370c1a969..cce819e0ef 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -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();
diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 31bc3efc3e..fa0cfedbf8 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -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);