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GCS_Mavlink: refactor zero_rc_outputs() out of GCS_Mavlink

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yaapu 2020-09-10 14:53:40 +02:00 committed by Peter Barker
parent bc7c5a0c8e
commit e7a49dd624
2 changed files with 1 additions and 14 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -825,8 +825,6 @@ private:
// no idea where we are: // no idea where we are:
struct Location global_position_current_loc; struct Location global_position_current_loc;
void zero_rc_outputs();
uint8_t last_tx_seq; uint8_t last_tx_seq;
uint16_t send_packet_count; uint16_t send_packet_count;
uint16_t out_of_space_to_send_count; // number of times HAVE_PAYLOAD_SPACE and friends have returned false uint16_t out_of_space_to_send_count; // number of times HAVE_PAYLOAD_SPACE and friends have returned false

13
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -2610,17 +2610,6 @@ void GCS_MAVLINK::send_vfr_hud()
vfr_hud_climbrate()); vfr_hud_climbrate());
} }
void GCS_MAVLINK::zero_rc_outputs()
{
// Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
// For that matter, send an invalid signal to all channels to prevent undesired/unexpected behavior
SRV_Channels::cork();
for (int i=0; i<NUM_RC_CHANNELS; i++) {
hal.rcout->write(i, 0);
}
SRV_Channels::push();
}
/* /*
handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command handle a MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN command
@ -2668,7 +2657,7 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_long_t &pa
} }
if (should_zero_rc_outputs_on_reboot()) { if (should_zero_rc_outputs_on_reboot()) {
zero_rc_outputs(); SRV_Channels::zero_rc_outputs();
} }
// send ack before we reboot // send ack before we reboot