From d87bb4dfcb59601bc51d46332bbe0db78d11294a Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sat, 17 Jan 2015 04:04:48 +0300
Subject: [PATCH] Revert "Intrusive changes made for UAVCAN profiling. Will be
 reverted in the next commit (this one is needed to keep the changes in
 history)"

This reverts commit 4c301d9dcf180e39186fa6753c7a3d3215b3cfa7.
---
 ROMFS/px4fmu_common/init.d/rcS       |  5 +----
 makefiles/toolchain_gnu-arm-eabi.mk  |  2 +-
 src/modules/uavcan/actuators/esc.cpp | 10 +++++-----
 src/modules/uavcan/uavcan_main.cpp   | 10 ----------
 4 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 02f4649d5f..2c9387ff06 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -8,7 +8,7 @@
 #
 # Default to auto-start mode.
 #
-set MODE none
+set MODE autostart
 
 set FRC /fs/microsd/etc/rc.txt
 set FCONFIG /fs/microsd/etc/config.txt
@@ -656,9 +656,6 @@ then
 # End of autostart
 fi
 
-param set UAVCAN_ENABLE 1
-sh /etc/init.d/rc.uavcan
-
 # There is no further processing, so we can free some RAM
 # XXX potentially unset all script variables.
 unset TUNE_ERR
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 1bbc5437d5..fbe378f509 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -105,7 +105,7 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
 # optimisation flags
 #
 ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g3 \
+			   -g \
 			   -fno-strict-aliasing \
 			   -fno-strength-reduce \
 			   -fomit-frame-pointer \
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp
index f7adbed760..995c8987c0 100644
--- a/src/modules/uavcan/actuators/esc.cpp
+++ b/src/modules/uavcan/actuators/esc.cpp
@@ -98,11 +98,11 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 	/*
 	 * Rate limiting - we don't want to congest the bus
 	 */
-// 	const auto timestamp = _node.getMonotonicTime();
-// 	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
-// 		return;
-// 	}
-// 	_prev_cmd_pub = timestamp;
+	const auto timestamp = _node.getMonotonicTime();
+	if ((timestamp - _prev_cmd_pub).toUSec() < (1000000 / MAX_RATE_HZ)) {
+		return;
+	}
+	_prev_cmd_pub = timestamp;
 
 	/*
 	 * Fill the command message
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index c29cd83230..af5f2ec96f 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -357,16 +357,6 @@ int UavcanNode::run()
 		_actuator_direct_poll_fd_num = add_poll_fd(_actuator_direct_sub);
 	}
 
-	_esc_controller.arm_all_escs(true);
-	while (true) {
-		for (int i = 0; i < 1000; i++) {
-			node_spin_once();
-			_outputs.noutputs = 8;
-			_esc_controller.update_outputs(_outputs.output, _outputs.noutputs);
-		}
-		::usleep(1000);
-	}
-
 	while (!_task_should_exit) {
 		// update actuator controls subscriptions if needed
 		if (_groups_subscribed != _groups_required) {