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AP_Volz_Protocol: use popcount

This commit is contained in:
Iampete1 2024-04-04 14:05:51 +01:00 committed by Peter Barker
parent 871e9101ff
commit 71f3dbf098
1 changed files with 1 additions and 7 deletions
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8
libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
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@ -131,15 +131,9 @@ void AP_Volz_Protocol::send_command(CMD &cmd)
void AP_Volz_Protocol::update_volz_bitmask(uint32_t new_bitmask) void AP_Volz_Protocol::update_volz_bitmask(uint32_t new_bitmask)
{ {
uint8_t count = 0; const uint8_t count = __builtin_popcount(new_bitmask);
last_used_bitmask = new_bitmask; last_used_bitmask = new_bitmask;
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (new_bitmask & (1U<<i)) {
count++;
}
}
// have a safety margin of 20% to allow for not having full uart // have a safety margin of 20% to allow for not having full uart
// utilisation. We really don't want to start filling the uart // utilisation. We really don't want to start filling the uart
// buffer or we'll end up with servo lag // buffer or we'll end up with servo lag