From 97e58d9df90eec167349cbe704dc579982973cac Mon Sep 17 00:00:00 2001 From: Oliver Date: Mon, 22 May 2023 11:57:52 +1000 Subject: [PATCH] AP_PiccoloCAN: Remove old ESC structure - No longer needed - Now replaced with class-based implementation --- libraries/AP_PiccoloCAN/AP_PiccoloCAN.h | 25 ------------------------- 1 file changed, 25 deletions(-) diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h index d53b85ca3b..96a103077d 100644 --- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h +++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h @@ -124,31 +124,6 @@ private: AP_PiccoloCAN_Servo _servos[PICCOLO_CAN_MAX_NUM_SERVO]; AP_PiccoloCAN_ESC _escs[PICCOLO_CAN_MAX_NUM_ESC]; - // Data structure for representing the state of a Velocity ESC - struct VelocityESC_Info_t { - - /* Telemetry data provided in the PKT_ESC_STATUS_A packet */ - uint8_t mode; //! ESC operational mode - ESC_StatusBits_t status; //! ESC status information - uint16_t setpoint; //!< ESC operational command - value depends on 'mode' available in this packet. If the ESC is disabled, data reads 0x0000. If the ESC is in open-loop PWM mode, this value is the PWM command in units of 1us, in the range 1000us to 2000us. If the ESC is in closed-loop RPM mode, this value is the RPM command in units of 1RPM - uint16_t rpm; //!< Motor speed - - /* Telemetry data provided in the PKT_ESC_STATUS_B packet */ - uint16_t voltage; //!< ESC Rail Voltage - int16_t current; //!< ESC Current. Current IN to the ESC is positive. Current OUT of the ESC is negative - uint16_t dutyCycle; //!< ESC Motor Duty Cycle - int8_t escTemperature; //!< ESC Logic Board Temperature - uint8_t motorTemperature; //!< ESC Motor Temperature - - /* Telemetry data provided in the PKT_ESC_STATUS_C packet */ - float fetTemperature; //!< ESC Phase Board Temperature - uint16_t pwmFrequency; //!< Current motor PWM frequency (10 Hz per bit) - uint16_t timingAdvance; //!< Current timing advance (0.1 degree per bit) - - uint64_t last_rx_msg_timestamp = 0; //! Time of most recently received message - - } _esc_ixnfo[PICCOLO_CAN_MAX_NUM_ESC]; - struct CurrawongECU_Info_t { float command; bool newCommand;