diff options
Diffstat (limited to 'src/modules/uavcan/actuators/esc.cpp')
| -rw-r--r-- | src/modules/uavcan/actuators/esc.cpp | 7 |
1 files changed, 0 insertions, 7 deletions
diff --git a/src/modules/uavcan/actuators/esc.cpp b/src/modules/uavcan/actuators/esc.cpp index 995c8987c..51589e43e 100644 --- a/src/modules/uavcan/actuators/esc.cpp +++ b/src/modules/uavcan/actuators/esc.cpp @@ -56,17 +56,12 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) : if (_perfcnt_scaling_error == nullptr) { errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error"); } - - if (_perfcnt_broadcast_elapsed == nullptr) { - errx(1, "uavcan: couldn't allocate _perfcnt_broadcast_elapsed"); - } } UavcanEscController::~UavcanEscController() { perf_free(_perfcnt_invalid_input); perf_free(_perfcnt_scaling_error); - perf_free(_perfcnt_broadcast_elapsed); } int UavcanEscController::init() @@ -141,9 +136,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs) * Publish the command message to the bus * Note that for a quadrotor it takes one CAN frame */ - perf_begin(_perfcnt_broadcast_elapsed); (void)_uavcan_pub_raw_cmd.broadcast(msg); - perf_end(_perfcnt_broadcast_elapsed); } void UavcanEscController::arm_all_escs(bool arm) |