Revert "UAVCAN performance audit (#6829)" (#6846)

This reverts commit 21e04c9f7a.

src/modules/uavcan/actuators/esc.cpp

@@ -136,25 +136,6 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 		}
 	}
 
-	/*
-	 * Remove channels that are always zero.
-	 * The objective of this optimization is to avoid broadcasting multi-frame transfers when a single frame
-	 * transfer would be enough. This is a valid optimization as the UAVCAN specification implies that all
-	 * non-specified ESC setpoints should be considered zero.
-	 * The positive outcome is a (marginally) lower bus traffic and lower CPU load.
-	 *
-	 * From the standpoint of the PX4 architecture, however, this is a hack. It should be investigated why
-	 * the mixer returns more outputs than are actually used.
-	 */
-	for (int index = int(msg.cmd.size()) - 1; index >= _max_number_of_nonzero_outputs; index--) {
-		if (msg.cmd[index] != 0) {
-			_max_number_of_nonzero_outputs = index + 1;
-			break;
-		}
-	}
-
-	msg.cmd.resize(_max_number_of_nonzero_outputs);
-
 	/*
 	 * Publish the command message to the bus
 	 * Note that for a quadrotor it takes one CAN frame

src/modules/uavcan/actuators/esc.hpp

@@ -107,7 +107,6 @@ private:
 	 * ESC states
 	 */
 	uint32_t 			_armed_mask = 0;
-	uint8_t				_max_number_of_nonzero_outputs = 0;
 
 	/*
 	 * Perf counters