From 0ae296bfe21add6276f5c28a97884059fb317999 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Thu, 16 Mar 2023 11:39:11 -0600 Subject: [PATCH] ARK CANnode fix params --- boards/ark/cannode/init/rc.board_defaults | 4 ---- src/drivers/uavcannode/UavcanNode.cpp | 8 +------- 2 files changed, 1 insertion(+), 11 deletions(-) diff --git a/boards/ark/cannode/init/rc.board_defaults b/boards/ark/cannode/init/rc.board_defaults index ac0793ec70..7de93ad4e8 100644 --- a/boards/ark/cannode/init/rc.board_defaults +++ b/boards/ark/cannode/init/rc.board_defaults @@ -3,10 +3,6 @@ # board specific defaults #------------------------------------------------------------------------------ -param set-default CANNODE_ARM_STAT 1 -param set-default CANNODE_SUB_ESC 1 -param set-default CANNODE_SUB_SERV 1 - pwm_out start dshot start diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp index 2fcce1be6e..38feeb9387 100644 --- a/src/drivers/uavcannode/UavcanNode.cpp +++ b/src/drivers/uavcannode/UavcanNode.cpp @@ -438,13 +438,7 @@ int UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events #endif // CONFIG_UAVCANNODE_RTK_DATA #if defined(CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND) - int32_t enable_servo_array_command_sub = 0; - param_get(param_find("CANNODE_SUB_SERV"), &enable_servo_array_command_sub); - - if (enable_servo_array_command_sub != 0) { - _subscriber_list.add(new ServoArrayCommand(_node)); - } - + _subscriber_list.add(new ServoArrayCommand(_node)); #endif // CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND for (auto &subscriber : _subscriber_list) {