From 2c3054cbae7727e977177cfc090be643ac65b4e1 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Tue, 26 Sep 2017 14:36:13 -0700 Subject: [PATCH] AP_HAL: RCOutput_Tap: remove feedback from ESCs This is not currently working on Aero, the only user of it right now, and it has been commented out. Remove dead code. --- libraries/AP_HAL/utility/RCOutput_Tap.cpp | 7 ------- libraries/AP_HAL/utility/RCOutput_Tap.h | 1 - 2 files changed, 8 deletions(-) diff --git a/libraries/AP_HAL/utility/RCOutput_Tap.cpp b/libraries/AP_HAL/utility/RCOutput_Tap.cpp index 320de773df..71b0c3d140 100644 --- a/libraries/AP_HAL/utility/RCOutput_Tap.cpp +++ b/libraries/AP_HAL/utility/RCOutput_Tap.cpp @@ -553,11 +553,6 @@ void RCOutput_Tap::push() * REV: Reverse direction */ -// TODO: enable feedback from 1 ESC and read data back -#if 0 - out[_next_channel_reply] |= RUN_FEEDBACK_ENABLE_MASK; -#endif - EscPacket packet = {0xfe, _channels_count, ESCBUS_MSG_ID_RUN}; packet.len *= sizeof(packet.d.reqRun.value[0]); @@ -570,8 +565,6 @@ void RCOutput_Tap::push() debug("TX ERROR: ret: %d, errno: %d", ret, errno); } - _next_channel_reply = (_next_channel_reply + 1) % _channels_count; - hal.util->perf_end(_perf_rcout); } diff --git a/libraries/AP_HAL/utility/RCOutput_Tap.h b/libraries/AP_HAL/utility/RCOutput_Tap.h index ee6138a766..e2cfcdc33e 100644 --- a/libraries/AP_HAL/utility/RCOutput_Tap.h +++ b/libraries/AP_HAL/utility/RCOutput_Tap.h @@ -91,7 +91,6 @@ private: bool _corking; uint8_t _channels_count = MAX_MOTORS; - uint8_t _next_channel_reply; uint16_t _period[MAX_MOTORS]; uint16_t _esc_pwm_min;