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uavcan: remove redundant loop

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This commit is contained in:
ttechnick
2026-02-20 15:16:43 +01:00
committed by Nick
parent 6a18fd045f
commit 8478503349
2 changed files with 5 additions and 14 deletions
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src/drivers/uavcan/actuators/esc.cpp
+5 -10
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@@ -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();