diff --git a/src/boards/RIGv2/Actuators/Actuators.cpp b/src/boards/RIGv2/Actuators/Actuators.cpp index 73e81f65a893566f6dfc7e929410bd429999bbd3..62a214341945a756e752e92f672dedf8970e6d56 100644 --- a/src/boards/RIGv2/Actuators/Actuators.cpp +++ b/src/boards/RIGv2/Actuators/Actuators.cpp @@ -119,42 +119,19 @@ bool Actuators::start() infos[8].servo->enable(); infos[9].servo->enable(); - if (updatePositionTaskId == 0) - { - updatePositionTaskId = - scheduler.addTask([this]() { updatePositionsTask(); }, - Config::Servos::SERVO_TIMINGS_CHECK_PERIOD); + updatePositionTaskId = + scheduler.addTask([this]() { updatePositionsTask(); }, + Config::Servos::SERVO_TIMINGS_CHECK_PERIOD); - if (updatePositionTaskId == 0) - { - LOG_ERR(logger, "Failed to add updatePositionsTask"); - return false; - } - } - else + if (updatePositionTaskId == 0) { - scheduler.enableTask(updatePositionTaskId); + LOG_ERR(logger, "Failed to add updatePositionsTask"); + return false; } return true; } -void Actuators::stop() -{ - infos[0].servo->disable(); - infos[1].servo->disable(); - infos[2].servo->disable(); - infos[3].servo->disable(); - // infos[4].servo->disable(); - infos[5].servo->disable(); - infos[6].servo->disable(); - // infos[7].servo->disable(); - infos[8].servo->disable(); - infos[9].servo->disable(); - - scheduler.disableTask(updatePositionTaskId); -} - bool Actuators::wiggleServo(ServosList servo) { // Wiggle means open the servo for 1s diff --git a/src/boards/RIGv2/Actuators/Actuators.h b/src/boards/RIGv2/Actuators/Actuators.h index f8fe6edc2047c4474e2d185780674c19d94def2c..f443cf348e053b91684fd165330276c13ed6ac26 100644 --- a/src/boards/RIGv2/Actuators/Actuators.h +++ b/src/boards/RIGv2/Actuators/Actuators.h @@ -62,8 +62,6 @@ public: [[nodiscard]] bool start(); - void stop(); - bool wiggleServo(ServosList servo); bool toggleServo(ServosList servo); bool closeServo(ServosList servo); diff --git a/src/boards/RIGv2/Radio/Radio.cpp b/src/boards/RIGv2/Radio/Radio.cpp index 8e5f5d3f1f564d27cf0d397e1dfb7c2a97af396c..b0f341f7e68ca98390ac0a6ea7bbcab390e46289 100644 --- a/src/boards/RIGv2/Radio/Radio.cpp +++ b/src/boards/RIGv2/Radio/Radio.cpp @@ -105,15 +105,6 @@ bool Radio::start() return true; } -void Radio::stop() -{ - // Remove global radio instance - setIRQRadio(nullptr); - - mavDriver->stop(); - started = false; -} - void Radio::enqueuePacket(const mavlink_message_t& msg) { queuedPackets.put(msg); diff --git a/src/boards/RIGv2/Radio/Radio.h b/src/boards/RIGv2/Radio/Radio.h index 0a9090eec94761d4d7da1ae2005ae04728b0b758..4796e7f838220948b34ffee776d0fff7642e771d 100644 --- a/src/boards/RIGv2/Radio/Radio.h +++ b/src/boards/RIGv2/Radio/Radio.h @@ -44,8 +44,6 @@ public: [[nodiscard]] bool start(); - void stop(); - bool isStarted(); Boardcore::MavlinkStatus getMavStatus(); diff --git a/src/boards/RIGv2/Sensors/Sensors.cpp b/src/boards/RIGv2/Sensors/Sensors.cpp index fabc78951bd7c197395edbd6519e0d59a6e98919..1add36cc4dc14597c28ae1fbfa37fc7a9c05ac71 100644 --- a/src/boards/RIGv2/Sensors/Sensors.cpp +++ b/src/boards/RIGv2/Sensors/Sensors.cpp @@ -50,12 +50,6 @@ bool Sensors::start() return true; } -void Sensors::stop() -{ - manager->stop(); - started = false; -} - ADS131M08Data Sensors::getADC1LastSample() { PauseKernelLock l; diff --git a/src/boards/RIGv2/Sensors/Sensors.h b/src/boards/RIGv2/Sensors/Sensors.h index 43d614ee797e95137d5e782beafc59197fa5ce79..794213747d6757961aca406eb4eb6fd1d7c951d7 100644 --- a/src/boards/RIGv2/Sensors/Sensors.h +++ b/src/boards/RIGv2/Sensors/Sensors.h @@ -40,8 +40,6 @@ public: [[nodiscard]] bool start(); - void stop(); - bool isStarted(); Boardcore::ADS131M08Data getADC1LastSample();