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SRV_Channels: find_channel: use channel mask remove need for search over all channels

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Iampete1 2024-08-15 15:02:12 +01:00 committed by Andrew Tridgell
parent 3e50b4cf57
commit 4ab976178e
1 changed files with 16 additions and 7 deletions
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23
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -565,16 +565,25 @@ bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t fun
// find first channel that a function is assigned to
bool SRV_Channels::find_channel(SRV_Channel::Aux_servo_function_t function, uint8_t &chan)
{
if (!function_assigned(function)) {
// Must have populated channel masks
if (!initialised) {
update_aux_servo_function();
}
// Make sure function is valid
if (!SRV_Channel::valid_function(function)) {
return false;
}
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (channels[i].function == function) {
chan = channels[i].ch_num;
return true;
}
// Get the index of the first set bit, returns 0 if no bits are set
const int first_chan = __builtin_ffs(functions[function].channel_mask);
if (first_chan == 0) {
return false;
}
return false;
// Convert to 0 indexed
chan = first_chan - 1;
return true;
}
/*