From 1ab2d22e42293164a337cc90cbc04f13be882aba Mon Sep 17 00:00:00 2001
From: alessandro <alessandro@yuneecresearch.com>
Date: Thu, 12 Apr 2018 11:12:50 +0200
Subject: [PATCH] tap_esc: removed redundant _initialized member
---
src/drivers/tap_esc/tap_esc.cpp | 61 ++++++++++++++-------------------
1 file changed, 25 insertions(+), 36 deletions(-)
diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp
index 498709ed4b..7a7c727d93 100644
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@@ -136,7 +136,6 @@ private:
MixerGroup *_mixers;
uint32_t _groups_required;
uint32_t _groups_subscribed;
- volatile bool _initialized;
unsigned _pwm_default_rate;
unsigned _current_update_rate;
ESC_UART_BUF uartbuf;
@@ -180,7 +179,6 @@ TAP_ESC::TAP_ESC():
_mixers(nullptr),
_groups_required(0),
_groups_subscribed(0),
- _initialized(false),
_pwm_default_rate(400),
_current_update_rate(0)
@@ -209,29 +207,26 @@ TAP_ESC::TAP_ESC():
TAP_ESC::~TAP_ESC()
{
- if (_initialized) {
- for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
- if (_control_subs[i] >= 0) {
- orb_unsubscribe(_control_subs[i]);
- _control_subs[i] = -1;
- }
+ for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
+ if (_control_subs[i] >= 0) {
+ orb_unsubscribe(_control_subs[i]);
+ _control_subs[i] = -1;
}
+ }
- orb_unsubscribe(_armed_sub);
- _armed_sub = -1;
- orb_unsubscribe(_test_motor_sub);
- _test_motor_sub = -1;
- orb_unsubscribe(_params_sub);
+ orb_unsubscribe(_armed_sub);
+ _armed_sub = -1;
+ orb_unsubscribe(_test_motor_sub);
+ _test_motor_sub = -1;
+ orb_unsubscribe(_params_sub);
- orb_unadvertise(_outputs_pub);
- orb_unadvertise(_esc_feedback_pub);
- orb_unadvertise(_to_mixer_status);
+ orb_unadvertise(_outputs_pub);
+ orb_unadvertise(_esc_feedback_pub);
+ orb_unadvertise(_to_mixer_status);
- tap_esc_common::deinitialise_uart(_uart_fd);
+ tap_esc_common::deinitialise_uart(_uart_fd);
- DEVICE_LOG("stopping");
- _initialized = false;
- }
+ DEVICE_LOG("stopping");
}
/** @see ModuleBase */
@@ -262,8 +257,6 @@ TAP_ESC::init()
{
int ret;
- ASSERT(!_initialized);
-
ret = tap_esc_common::initialise_uart(_device, _uart_fd);
if (ret < 0) {
@@ -329,6 +322,16 @@ TAP_ESC::init()
ret = CDev::init();
+ /* advertise the mixed control outputs, insist on the first group output */
+ _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
+ _esc_feedback_pub = orb_advertise(ORB_ID(esc_status), &_esc_feedback);
+ multirotor_motor_limits_s multirotor_motor_limits = {};
+ _to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
+
+ _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+ _test_motor_sub = orb_subscribe(ORB_ID(test_motor));
+ _params_sub = orb_subscribe(ORB_ID(parameter_update));
+
return ret;
}
@@ -403,20 +406,6 @@ void TAP_ESC::send_esc_outputs(const uint16_t *pwm, const unsigned num_pwm)
void
TAP_ESC::cycle()
{
-
- if (!_initialized) {
- _current_update_rate = 0;
- /* advertise the mixed control outputs, insist on the first group output */
- _outputs_pub = orb_advertise(ORB_ID(actuator_outputs), &_outputs);
- _esc_feedback_pub = orb_advertise(ORB_ID(esc_status), &_esc_feedback);
- multirotor_motor_limits_s multirotor_motor_limits = {};
- _to_mixer_status = orb_advertise(ORB_ID(multirotor_motor_limits), &multirotor_motor_limits);
- _armed_sub = orb_subscribe(ORB_ID(actuator_armed));
- _test_motor_sub = orb_subscribe(ORB_ID(test_motor));
- _params_sub = orb_subscribe(ORB_ID(parameter_update));
- _initialized = true;
- }
-
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
--
GitLab