src/Vehicle/Vehicle.cc

@@ -3665,6 +3665,22 @@ void Vehicle::stopCalibration(void)
                    0);                                // unused
 }
 
+void Vehicle::startUAVCANBusConfig(void)
+{
+    sendMavCommand(defaultComponentId(),        // target component
+                   MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                   true,                        // showError
+                   1);                          // start config
+}
+
+void Vehicle::stopUAVCANBusConfig(void)
+{
+    sendMavCommand(defaultComponentId(),        // target component
+                   MAV_CMD_PREFLIGHT_UAVCAN,    // command id
+                   true,                        // showError
+                   0);                          // stop config
+}
+
 void Vehicle::setSoloFirmware(bool soloFirmware)
 {
     if (soloFirmware != _soloFirmware) {

src/Vehicle/Vehicle.h

@@ -1003,6 +1003,9 @@ public:
     void startCalibration   (CalibrationType calType);
     void stopCalibration    (void);
 
+    void startUAVCANBusConfig(void);
+    void stopUAVCANBusConfig(void);
+
     Fact* roll                              () { return &_rollFact; }
     Fact* pitch                             () { return &_pitchFact; }
     Fact* heading                           () { return &_headingFact; }

src/uas/UAS.cc

@@ -348,41 +348,6 @@ void UAS::receiveMessage(mavlink_message_t message)
 #pragma warning(pop, 0)
 #endif
 
-void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
-{
-    if (!_vehicle) {
-        return;
-    }
-
-   int actuatorCal = 0;
-
-    switch (calType) {
-        case StartBusConfigActuators:
-            actuatorCal = 1;
-        break;
-        case EndBusConfigActuators:
-            actuatorCal = 0;
-        break;
-    }
-
-    _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
-                             MAV_CMD_PREFLIGHT_UAVCAN,          // command id
-                             true,                              // showError
-                             actuatorCal);                      // actuators
-}
-
-void UAS::stopBusConfig(void)
-{
-    if (!_vehicle) {
-        return;
-    }
-
-    _vehicle->sendMavCommand(_vehicle->defaultComponentId(),    // target component
-                             MAV_CMD_PREFLIGHT_UAVCAN,          // command id
-                             true,                              // showError
-                             0);                                // cancel
-}
-
 /**
 * Check if time is smaller than 40 years, assuming no system without Unix
 * timestamp runs longer than 40 years continuously without reboot. In worst case

src/uas/UAS.h

@@ -180,9 +180,6 @@ public slots:
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveMessage(mavlink_message_t message);
 
-    void startBusConfig(StartBusConfigType calType);
-    void stopBusConfig(void);
-
 signals:
     void imageStarted(quint64 timestamp);
     /** @brief A new camera image has arrived */

src/uas/UASInterface.h

@@ -39,17 +39,6 @@ public:
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
 
-    enum StartBusConfigType {
-        StartBusConfigActuators,
-        EndBusConfigActuators,
-    };
-
-    /// Starts the specified bus configuration
-    virtual void startBusConfig(StartBusConfigType calType) = 0;
-
-    /// Ends any current bus configuration
-    virtual void stopBusConfig(void) = 0;
-
 public slots:
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;