From 6854b14dd6f0d6f7445db97ff5fb31ef00844d54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Mon, 14 Oct 2019 13:39:34 +0200
Subject: [PATCH] esc_report: remove unused fields to reduce message size

esc_setpoint in UAVCAN was just wrong, this is what it really is:
uint7 power_rating_pct      # Instant demand factor in percent
(percent of maximum power); range 0% to 127%.
---
 msg/esc_report.msg                                     |  4 +---
 .../df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp      |  1 -
 src/drivers/mkblctrl/mkblctrl.cpp                      | 10 ----------
 src/drivers/uavcan/actuators/esc.cpp                   |  2 --
 4 files changed, 1 insertion(+), 16 deletions(-)

diff --git a/msg/esc_report.msg b/msg/esc_report.msg
index 8aaadb39f9..a31230586d 100644
--- a/msg/esc_report.msg
+++ b/msg/esc_report.msg
@@ -4,7 +4,5 @@ int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if support
 float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
 float32 esc_current					# Current measured from current ESC [A] - if supported
 uint8 esc_temperature					# Temperature measured from current ESC [degC] - if supported
-float32 esc_setpoint					# setpoint of current ESC
-uint16 esc_setpoint_raw					# setpoint of current ESC (Value sent to ESC)
-uint16 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
+uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
 uint8 esc_state					# State of ESC - depend on Vendor
diff --git a/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
index 172ae94657..548b537f6d 100644
--- a/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -219,7 +219,6 @@ int DfBebopBusWrapper::_publish(struct bebop_state_data &data)
 	for (int i = 0; i < 4; i++) {
 		esc_status.esc[_esc_map[i]].timestamp = esc_status.timestamp;
 		esc_status.esc[_esc_map[i]].esc_rpm = data.rpm[i];
-		esc_status.esc[_esc_map[i]].esc_setpoint_raw = esc_speed_setpoint_rpm[i];
 	}
 
 	// TODO: when is this ever blocked?
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index a20a1dc36c..b58fc98324 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -617,16 +617,6 @@ MK::task_main()
 				esc.esc[i].esc_voltage = 0.0F;
 				esc.esc[i].esc_current = static_cast<float>(Motor[i].Current) * 0.1F;
 				esc.esc[i].esc_rpm = (uint16_t) 0;
-				esc.esc[i].esc_setpoint = (float) Motor[i].SetPoint_PX4;
-
-				if (Motor[i].Version == 1) {
-					// BLCtrl 2.0 (11Bit)
-					esc.esc[i].esc_setpoint_raw = (uint16_t)(Motor[i].SetPoint << 3) | Motor[i].SetPointLowerBits;
-
-				} else {
-					// BLCtrl < 2.0 (8Bit)
-					esc.esc[i].esc_setpoint_raw = (uint16_t) Motor[i].SetPoint;
-				}
 
 				esc.esc[i].esc_temperature = static_cast<uint8_t>(Motor[i].Temperature);
 				esc.esc[i].esc_state = (uint8_t) Motor[i].State;
diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index 61683a6cdb..ac67f00fc0 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -129,7 +129,6 @@ UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
 
 			msg.cmd.push_back(static_cast<int>(scaled));
 
-			_esc_status.esc[i].esc_setpoint_raw = abs(static_cast<int>(scaled));
 			actuator_outputs.output[i] = scaled;
 
 		} else {
@@ -201,7 +200,6 @@ UavcanEscController::esc_status_sub_cb(const uavcan::ReceivedDataStructure<uavca
 		ref.esc_voltage     = msg.voltage;
 		ref.esc_current     = msg.current;
 		ref.esc_temperature = msg.temperature;
-		ref.esc_setpoint    = msg.power_rating_pct;
 		ref.esc_rpm         = msg.rpm;
 		ref.esc_errorcount  = msg.error_count;
 	}