From 24142bc0145cfd45512bfb9204fe76c21d8d1d0f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 6 Sep 2022 10:53:13 +0200
Subject: [PATCH] commander: RcCalibrationChecks: avoid param access on each
 cycle

reduces cpu usage a bit
---
 .../checks/rcCalibrationCheck.cpp             | 38 +++++++++++--------
 .../checks/rcCalibrationCheck.hpp             | 11 +++++-
 2 files changed, 33 insertions(+), 16 deletions(-)

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
index 62a7921dd3..90f210ed66 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
@@ -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);
+	}
+}
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp
index fe9806246d..6a2d30a83f 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.hpp
@@ -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