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Compute the channel bound once before the loop runs.

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px4dev
2012-09-12 08:37:05 -07:00
parent cab1fed3e9
commit 59b1402379
1 changed files with 5 additions and 1 deletions
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apps/sensors/sensors.cpp
+5 -1
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@@ -950,11 +950,15 @@ Sensors::ppm_poll()
if (ppm_decoded_channels < 4) if (ppm_decoded_channels < 4)
return; return;
unsigned channel_limit = ppm_decoded_channels;
if (channel_limit > _rc_max_chan_count)
channel_limit = _rc_max_chan_count;
/* we are accepting this decode */ /* we are accepting this decode */
_ppm_last_valid = ppm_last_valid_decode; _ppm_last_valid = ppm_last_valid_decode;
/* Read out values from HRT */ /* Read out values from HRT */
for (unsigned int i = 0; (i < ppm_decoded_channels && i < 8); i++) { for (unsigned int i = 0; channel_limit; i++) {
_rc.chan[i].raw = ppm_buffer[i]; _rc.chan[i].raw = ppm_buffer[i];
/* Set the range to +-, then scale up */ /* Set the range to +-, then scale up */
_rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000; _rc.chan[i].scale = (ppm_buffer[i] - _rc.chan[i].mid) * _rc.chan[i].scaling_factor * 10000;