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commander: RcCalibrationChecks: avoid param access on each cycle

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reduces cpu usage a bit
This commit is contained in:
Beat Küng 2022-09-06 10:53:13 +02:00 committed by Daniel Agar
parent c72c580a0b
commit 24142bc014
2 changed files with 33 additions and 16 deletions
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38
src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
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@ -62,13 +62,11 @@ RcCalibrationChecks::RcCalibrationChecks()
sprintf(nbuf, "RC%d_MAX", i + 1);
_param_handles[i].max = param_find(nbuf);
sprintf(nbuf, "RC%d_REV", i + 1);
_param_handles[i].rev = param_find(nbuf);
sprintf(nbuf, "RC%d_DZ", i + 1);
_param_handles[i].dz = param_find(nbuf);
}
updateParams();
}
void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporter)
@ -82,18 +80,10 @@ void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporte
}
for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
/* initialize values to values failing the check */
float param_min = 0.0f;
float param_max = 0.0f;
float param_trim = 0.0f;
float param_rev = 0.0f;
float param_dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
param_get(_param_handles[i].min, &param_min);
param_get(_param_handles[i].trim, &param_trim);
param_get(_param_handles[i].max, &param_max);
param_get(_param_handles[i].rev, &param_rev);
param_get(_param_handles[i].dz, &param_dz);
float param_min = _param_values[i].min;
float param_max = _param_values[i].max;
float param_trim = _param_values[i].trim;
float param_dz = _param_values[i].dz;
/* assert min..center..max ordering */
if (param_min < RC_INPUT_LOWEST_MIN_US) {
@ -175,3 +165,21 @@ void RcCalibrationChecks::checkAndReport(const Context &context, Report &reporte
}
}
}
void RcCalibrationChecks::updateParams()
{
HealthAndArmingCheckBase::updateParams();
for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
/* initialize values to values failing the check */
_param_values[i].min = 0.0f;
_param_values[i].max = 0.0f;
_param_values[i].trim = 0.0f;
_param_values[i].dz = RC_INPUT_MAX_DEADZONE_US * 2.0f;
param_get(_param_handles[i].min, &_param_values[i].min);
param_get(_param_handles[i].trim, &_param_values[i].trim);
param_get(_param_handles[i].max, &_param_values[i].max);
param_get(_param_handles[i].dz, &_param_values[i].dz);
}
}

11
src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp
View File

@ -47,14 +47,23 @@ public:
void checkAndReport(const Context &context, Report &reporter) override;
private:
void updateParams() override;
struct ParamHandles {
param_t min;
param_t trim;
param_t max;
param_t rev;
param_t dz;
};
struct ParamValues {
float min;
float trim;
float max;
float dz;
};
ParamHandles _param_handles[input_rc_s::RC_INPUT_MAX_CHANNELS];
ParamValues _param_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode