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Use defines instead of hardcoded magic values for maximum number of output channels and rpm filter time constant

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This commit is contained in:
Matthias Grob 2024-12-12 13:30:21 +01:00
parent 8ce6ad6662
commit b85ad98a98
5 changed files with 7 additions and 5 deletions
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2
src/drivers/camera_capture/camera_capture.cpp
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@ -71,7 +71,7 @@ CameraCapture::CameraCapture() :
_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
param_get(_p_camera_capture_edge, &_camera_capture_edge);
for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS && _capture_channel == -1; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
param_t function_handle = param_find(param_name);

3
src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
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@ -32,6 +32,7 @@
****************************************************************************/
#include "camera_interface.h"
#include <drivers/drv_pwm_output.h>
#include <px4_platform_common/log.h>
#include <board_config.h>
@ -44,7 +45,7 @@ void CameraInterface::get_pins()
unsigned pin_index = 0;
for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS && pin_index < arraySize(_pins); ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
param_t function_handle = param_find(param_name);

2
src/drivers/pps_capture/PPSCapture.cpp
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@ -63,7 +63,7 @@ bool PPSCapture::init()
{
bool success = false;
for (unsigned i = 0; i < 16; ++i) {
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
param_t function_handle = param_find(param_name);

4
src/drivers/rpm_capture/RPMCapture.cpp
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@ -59,7 +59,7 @@ bool RPMCapture::init()
{
bool success = false;
for (unsigned i = 0; i < 16; ++i) {
for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; ++i) {
char param_name[17];
snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
param_t function_handle = param_find(param_name);
@ -138,7 +138,7 @@ void RPMCapture::Run()
// Don't update RPM filter with outliers
const float dt = math::min((now - _timestamp_last_update) * 1e-6f, 1.f);
_timestamp_last_update = now;
_rpm_filter.setParameters(dt, 0.5f);
_rpm_filter.setParameters(dt, RPM_FILTER_TIME_CONSTANT);
_rpm_filter.update(_rpm_median_filter.apply(rpm_raw));
}

1
src/drivers/rpm_capture/RPMCapture.hpp
View File

@ -72,6 +72,7 @@ public:
private:
static constexpr hrt_abstime RPM_PULSE_TIMEOUT = 1_s;
static constexpr float RPM_MAX_VALUE = 50e3f;
static constexpr float RPM_FILTER_TIME_CONSTANT = .5f;
void Run() override;