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RC_Channel: improved efficiency of min_max_configured

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this is quite a costly function due to scan in AP_Param. It takes
about 4 to 5 milliseconds when done as part of AP_Arming
This commit is contained in:
Andrew Tridgell 2018-01-09 14:41:02 +11:00 committed by Randy Mackay
parent 746ca91649
commit e5813effff
2 changed files with 20 additions and 4 deletions
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16
libraries/RC_Channel/RC_Channel.cpp
View File

@ -27,6 +27,8 @@ extern const AP_HAL::HAL& hal;
#include "RC_Channel.h"
uint32_t RC_Channel::configured_mask;
const AP_Param::GroupInfo RC_Channel::var_info[] = {
// @Param: MIN
// @DisplayName: RC min PWM
@ -335,3 +337,17 @@ bool RC_Channel::in_trim_dz()
return is_bounded_int32(radio_in, radio_trim - dead_zone, radio_trim + dead_zone);
}
bool RC_Channel::min_max_configured() const
{
if (configured_mask & (1U << ch_in)) {
return true;
}
if (radio_min.configured() && radio_max.configured()) {
// once a channel is known to be configured it has to stay
// configured due to the nature of AP_Param
configured_mask |= (1U<<ch_in);
return true;
}
return false;
}

8
libraries/RC_Channel/RC_Channel.h
View File

@ -97,10 +97,7 @@ public:
void set_and_save_trim() { radio_trim.set_and_save_ifchanged(radio_in);}
bool min_max_configured() const
{
return radio_min.configured() && radio_max.configured();
}
bool min_max_configured() const;
private:
@ -123,6 +120,9 @@ private:
// the input channel this corresponds to
uint8_t ch_in;
// bits set when channel has been identified as configured
static uint32_t configured_mask;
int16_t pwm_to_angle();
int16_t pwm_to_angle_dz(uint16_t dead_zone);
};