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clean up

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This commit is contained in:
Jacob Dahl
2026-02-10 12:43:29 -09:00
parent 4cfda1feed
commit f78ce5b227
2 changed files with 7 additions and 14 deletions
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src/drivers/dshot/DShot.cpp
+6 -13
View File
@@ -35,7 +35,7 @@
#include <px4_arch/io_timer.h>
#include <px4_platform_common/sem.hpp>
char DShot::_telemetry_device[] {};
char DShot::_serial_port_path[] {};
bool DShot::_telemetry_swap_rxtx{false};
px4::atomic_bool DShot::_request_telemetry_init{false};
@@ -107,7 +107,7 @@ void DShot::Run()
// Telemetry init hook
if (_request_telemetry_init.load()) {
init_telemetry(_telemetry_device, _telemetry_swap_rxtx);
init_telemetry(_serial_port_path, _telemetry_swap_rxtx);
_request_telemetry_init.store(false);
}
@@ -1038,16 +1038,9 @@ int DShot::print_status()
// Configuration
PX4_INFO("Configuration:");
const int n_timers = count_set_bits(_output_mask);
PX4_INFO(" Output Mask: 0x%02lx (%d timer%s)", (unsigned long)_output_mask, n_timers, n_timers > 1 ? "s" : "");
PX4_INFO(" Output Mask: 0x%02lx (%d channels)", (unsigned long)_output_mask, count_set_bits(_output_mask));
PX4_INFO(" BDShot Telemetry: %s", _bdshot_output_mask ? "Enabled" : "Disabled");
PX4_INFO(" Serial Telemetry: %s%s", _serial_telemetry_enabled ? "Enabled" : "Disabled",
_serial_telemetry_enabled ? (strlen(_telemetry_device) ? "" : " (no device)") : "");
if (_serial_telemetry_enabled && strlen(_telemetry_device)) {
PX4_INFO(" Device: %s", _telemetry_device);
}
PX4_INFO(" Serial Telemetry: %s", _serial_telemetry_enabled ? "Enabled" : "Disabled");
PX4_INFO(" Extended DShot: %s", _bdshot_edt_enabled ? "Enabled" : "Disabled");
const char *esc_type_str = "Unknown";
@@ -1177,8 +1170,8 @@ int DShot::custom_command(int argc, char *argv[])
if (!strcmp(verb, "telemetry")) {
if (device_name) {
// telemetry can be requested before the module is started
strncpy(_telemetry_device, device_name, sizeof(_telemetry_device) - 1);
_telemetry_device[sizeof(_telemetry_device) - 1] = '\0';
strncpy(_serial_port_path, device_name, sizeof(_serial_port_path) - 1);
_serial_port_path[sizeof(_serial_port_path) - 1] = '\0';
_telemetry_swap_rxtx = swap_rxtx;
_request_telemetry_init.store(true);
}
src/drivers/dshot/DShot.h
+1 -1
View File
@@ -159,7 +159,7 @@ private:
// Serial Telemetry
DShotTelemetry _telemetry;
static char _telemetry_device[20];
static char _serial_port_path[20];
static bool _telemetry_swap_rxtx;
static px4::atomic_bool _request_telemetry_init;
int _telemetry_motor_index = 0;