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Plane: Update airbrake channel assignment in set_control_channels() to avoid expensive call in airbrake_update()

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This commit is contained in:
Samuel Tabor 2020-09-02 08:33:02 +01:00 committed by Tom Pittenger
parent f1290a2e17
commit 590ebb180c
3 changed files with 7 additions and 5 deletions
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1
ArduPlane/Plane.h
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@ -177,6 +177,7 @@ private:
RC_Channel *channel_pitch; RC_Channel *channel_pitch;
RC_Channel *channel_throttle; RC_Channel *channel_throttle;
RC_Channel *channel_rudder; RC_Channel *channel_rudder;
RC_Channel *channel_airbrake;
AP_Logger logger; AP_Logger logger;

3
ArduPlane/radio.cpp
View File

@ -40,6 +40,9 @@ void Plane::set_control_channels(void)
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100); SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
} }
// update airbrake channel assignment
channel_airbrake = rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRBRAKE);
// update manual forward throttle channel assignment // update manual forward throttle channel assignment
quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR); quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);

8
ArduPlane/servos.cpp
View File

@ -296,11 +296,9 @@ void Plane::airbrake_update(void)
{ {
// Calculate any manual airbrake input from RC channel option. // Calculate any manual airbrake input from RC channel option.
int8_t manual_airbrake_percent = 0; int8_t manual_airbrake_percent = 0;
RC_Channel *airbrake_in_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRBRAKE); if (channel_airbrake != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) {
manual_airbrake_percent = channel_airbrake->percent_input();
if (airbrake_in_ch != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) {
manual_airbrake_percent = airbrake_in_ch->percent_input();
} }
// Calculate auto airbrake from negative throttle. // Calculate auto airbrake from negative throttle.