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delete lib/mixer and mixer_module static mixing

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 0019ffbea6
commit a7bbcd5b04
79 changed files with 219 additions and 6835 deletions
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src/drivers/uavcan/uavcan_main.cpp
-16
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@@ -575,15 +575,6 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
_mixing_interface_esc.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE);
if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
// these are configurable with dynamic mixing
_mixing_interface_esc.mixingOutput().setAllMinValues(0); // Can be changed to 1 later, according to UAVCAN_ESC_IDLT
_mixing_interface_esc.mixingOutput().setAllMaxValues(UavcanEscController::max_output_value());
param_get(param_find("UAVCAN_ESC_IDLT"), &_idle_throttle_when_armed_param);
enable_idle_throttle_when_armed(true);
}
/* Set up shared service clients */
_param_getset_client.setCallback(GetSetCallback(this, &UavcanNode::cb_getset));
_param_opcode_client.setCallback(ExecuteOpcodeCallback(this, &UavcanNode::cb_opcode));
@@ -931,13 +922,6 @@ void
UavcanNode::enable_idle_throttle_when_armed(bool value)
{
value &= _idle_throttle_when_armed_param > 0;
if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
if (value != _idle_throttle_when_armed) {
_mixing_interface_esc.mixingOutput().setAllMinValues(value ? 1 : 0);
_idle_throttle_when_armed = value;
}
}
}
bool UavcanMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,