Cleanup

bitcraze · Jan 9, 2024 · d448764 · d448764
1 parent bce9a0a
commit d448764
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Showing 4 changed files with 5 additions and 13 deletions.
diff --git a/src/deck/drivers/src/bigquad.c b/src/deck/drivers/src/bigquad.c
@@ -42,7 +42,6 @@
 
 #include "FreeRTOS.h"
 #include "task.h"
-#include "servo.h"
 
 #define BIGQUAD_BAT_VOLT_PIN       DECK_GPIO_MISO
 #define BIGQUAD_BAT_VOLT_MULT      (CONFIG_DECK_BIGQUAD_BAT_VOLT_MULT_MV / 1000.0)
@@ -53,7 +52,6 @@
 
 //Hardware configuration
 static bool isInit;
-//static int8_t s_servo_angle = 0;
 
 #ifdef CONFIG_DECK_BIGQUAD_ENABLE_OSD
 static MspObject s_MspObject;
@@ -84,7 +82,7 @@ static void bigquadInit(DeckInfo *info)
 
   DEBUG_PRINT("Switching to brushless.\n");
   motorsInit(motorMapBigQuadDeck);
-//  extRxInit();
+  extRxInit();
 
   // Ignore charging/charged state to allow low-battery warning.
   pmIgnoreChargedState(true);
@@ -101,7 +99,6 @@ static void bigquadInit(DeckInfo *info)
               BQ_OSD_TASK_STACKSIZE, NULL, BQ_OSD_TASK_PRI, NULL);
 #endif
 
-  servoInit();
   isInit = true;
 }
 
@@ -124,7 +121,7 @@ static const DeckDriver bigquad_deck = {
 
   .usedPeriph = DECK_USING_TIMER3 | DECK_USING_TIMER14,
   .usedGpio = DECK_USING_PA2 | DECK_USING_PA3 | DECK_USING_IO_3 |
-              DECK_USING_IO_2 | DECK_USING_PA7 | DECK_USING_IO_4,
+              DECK_USING_IO_2 | DECK_USING_PA7,
   .init = bigquadInit,
   .test = bigquadTest,
 };
@@ -137,6 +134,7 @@ PARAM_GROUP_START(deck)
  * @brief Nonzero if [BigQuad deck](%https://www.bitcraze.io/products/bigquad-deck) is attached
  */
 PARAM_ADD_CORE(PARAM_UINT8 | PARAM_RONLY, bcBigQuad, &isInit)
+
 PARAM_GROUP_STOP(deck)
 
 #endif // CONFIG_DECK_BIGQUAD
diff --git a/src/drivers/src/motors_def.c b/src/drivers/src/motors_def.c
@@ -830,4 +830,4 @@ const MotorPerifDef* motorMapCF21Brushless[NBR_OF_MOTORS] =
 /**
  * Servo mapped to the Bigquad CPPM (MOSI) port
  */
-const MotorPerifDef* servoMapMOSI = &MOTORS_PA7_TIM14_CH1_SERVO;
+const MotorPerifDef* servoMapMOSI = &MOTORS_PA7_TIM14_CH1_SERVO;
diff --git a/src/drivers/src/servo.c b/src/drivers/src/servo.c
@@ -168,4 +168,4 @@ PARAM_GROUP_START(servo)
 PARAM_ADD(PARAM_UINT8 | PARAM_RONLY, servoInitialized, &isInit)
 PARAM_ADD_WITH_CALLBACK(PARAM_UINT8 , servoAngle, &s_servo_angle, &servoAngleCallBack)
 
-PARAM_GROUP_STOP(servo)
+PARAM_GROUP_STOP(servo)
diff --git a/src/modules/src/supervisor.c b/src/modules/src/supervisor.c
@@ -259,32 +259,26 @@ static supervisorConditionBits_t updateAndPopulateConditions(SupervisorMem_t* th
 
   const bool isTumbled = isTumbledCheck(this, sensors, currentTick);
   if (isTumbled) {
-      DEBUG_PRINT("Is Tumbled!\n");
     conditions |= SUPERVISOR_CB_IS_TUMBLED;
   }
 
   const uint32_t setpointAge = currentTick - setpoint->timestamp;
   if (setpointAge > COMMANDER_WDT_TIMEOUT_STABILIZE) {
-      DEBUG_PRINT("Setpoint is old!\n");
     conditions |= SUPERVISOR_CB_COMMANDER_WDT_WARNING;
   }
   if (setpointAge > COMMANDER_WDT_TIMEOUT_SHUTDOWN) {
-      DEBUG_PRINT("Setpoint is old! Timeout!\n");
     conditions |= SUPERVISOR_CB_COMMANDER_WDT_TIMEOUT;
   }
 
   if (!checkEmergencyStopWatchdog(currentTick)) {
-          DEBUG_PRINT("Emergency Stop!\n");
     conditions |= SUPERVISOR_CB_EMERGENCY_STOP;
   }
 
   if (locSrvIsEmergencyStopRequested()) {
-          DEBUG_PRINT("Loc Srv Emergency stop!\n");
     conditions |= SUPERVISOR_CB_EMERGENCY_STOP;
   }
 
   if (this->paramEmergencyStop) {
-              DEBUG_PRINT("Param Emergency stop!\n");
     conditions |= SUPERVISOR_CB_EMERGENCY_STOP;
   }