From 81e1c601b54ba37fc1dfcb9c7f25ebf82e1e41ed Mon Sep 17 00:00:00 2001 From: Pavel Kirienko Date: Fri, 2 Oct 2020 19:15:48 +0300 Subject: [PATCH] Remove the standard ESC registers. This is because the fixed register names implicitly introduce the hard constraint that there may be at most one ESC per node. This is not a reasonable restriction. Seeing as the MVP of DS-015 is not intended to support autoconfiguration, it makes sense to simply omit this issue for now. It may be revised in v1.1 or later in a fashion that does not make it impossible to run multiple service instances on the same node. --- reg/drone/service/actuator/esc/_.0.1.uavcan | 20 -------------------- 1 file changed, 20 deletions(-) diff --git a/reg/drone/service/actuator/esc/_.0.1.uavcan b/reg/drone/service/actuator/esc/_.0.1.uavcan index 0df596ba..934b04f9 100644 --- a/reg/drone/service/actuator/esc/_.0.1.uavcan +++ b/reg/drone/service/actuator/esc/_.0.1.uavcan @@ -143,26 +143,6 @@ # power | power # # -# STANDARD REGISTER NAMES -# -# There may be other standard register names defined by other applicable standards -# (such as the core UAVCAN Specification, for example). -# -# All registers are persistent and mutable unless stated otherwise. -# The value of 65535 represents an invalid/unconfigured subject (no subscription/publication). -# -# NAME TYPE DEFAULT DESCRIPTION -# --------------------------------------------------------------------------------------------------------------------- -# uavcan.sub.setpoint_array Natural16[1] 65535 The subject-ID of the setpoint subject. -# uavcan.pub.feedback Natural16[1] - Immutable; computed as specified above. -# uavcan.pub.status Natural16[1] - Immutable; computed as specified above. -# uavcan.pub.electric_power Natural16[1] - Immutable; computed as specified above. -# uavcan.pub.angular_kinetics Natural16[1] - Immutable; computed as specified above. -# -# reg.drone.service.actuator.index Natural8[1] 0 The index of the actuator. -# -# reg.drone.service.actuator.esc.mode Natural8[1] 0 Active control mode; see numbering in the list above. -# float32 SETPOINT_EXPIRATION_TIMEOUT = reg.drone.service.actuator.util.Feedback.0.1.SETPOINT_EXPIRATION_TIMEOUT # Disarm the drive if no setpoint messages have been received in this amount of time.