From f56d42c24a7f4c05962d96249c63a9cae8f3dce8 Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar do Carmo Lucas" Date: Thu, 17 Feb 2022 15:34:14 +0100 Subject: [PATCH] esc_telemetry.cpp: Remove the limits class and dynamically create multiple ESC instances --- mavros_extras/src/plugins/esc_telemetry.cpp | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/mavros_extras/src/plugins/esc_telemetry.cpp b/mavros_extras/src/plugins/esc_telemetry.cpp index 752b22ac3..78d01f661 100644 --- a/mavros_extras/src/plugins/esc_telemetry.cpp +++ b/mavros_extras/src/plugins/esc_telemetry.cpp @@ -113,15 +113,14 @@ struct Limits { } }; -class ESCDiag //: public diagnostic_updater::DiagnosticTask +class ESCDiag : public diagnostic_updater::DiagnosticTask { public: - ESCDiag(const std::string& name, const Limits& lim_): - //diagnostic_updater::DiagnosticTask(name), - lim(lim_) + ESCDiag(const std::string& name): + diagnostic_updater::DiagnosticTask(name) {} - const Limits& lim; + void run(diagnostic_updater::DiagnosticStatusWrapper &stat) override {}; }; /** @@ -266,7 +265,7 @@ class ESCTelemetryPlugin : public plugin::PluginBase } ROS_INFO("%d ESCs detected", _esc_count); for (uint i = 0; i < _esc_count; ++i) { - v.emplace_back(utils::format("ESC%u", i), *lim); + v.emplace_back(utils::format("ESC%u", i)); } }