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RX - minor optimizations/minor cleanup (#13493)

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* RX - minor optimizations/minor cleanup

- reuse millis() in rxInit
- rcData[] is float
- cleanup some float math
- fix GET_FRAME_ERR_LPF_FREQUENCY macro argument

* Update src/main/pg/rx.h

Co-authored-by: Jan Post <Rm2k-Freak@web.de>

---------

Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
This commit is contained in:
Petr Ledvina 2024-04-23 11:17:34 +02:00 • committed by GitHub
parent 790fabcfbc
commit 7bf3928f91
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2 changed files with 5 additions and 4 deletions
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2
src/main/pg/rx.h
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@ -24,7 +24,7 @@
#include "pg/pg.h"
#define GET_FRAME_ERR_LPF_FREQUENCY(period) (1 / (period / 10.0f))
#define GET_FRAME_ERR_LPF_FREQUENCY(period) (10.0f / period) // period in deciseconds (0.1s)
#define FRAME_ERR_RESAMPLE_US 100000
typedef struct rxConfig_s {

7
src/main/rx/rx.c
View file

@ -297,9 +297,10 @@ void rxInit(void)
rxRuntimeState.lastRcFrameTimeUs = 0;
rcSampleIndex = 0;
uint32_t now = millis();
for (int i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcData[i] = rxConfig()->midrc;
validRxSignalTimeout[i] = millis() + MAX_INVALID_PULSE_TIME_MS;
validRxSignalTimeout[i] = now + MAX_INVALID_PULSE_TIME_MS;
}
rcData[THROTTLE] = (featureIsEnabled(FEATURE_3D)) ? rxConfig()->midrc : rxConfig()->rx_min_usec;
@ -310,7 +311,7 @@ void rxInit(void)
const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(i);
if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) {
// ARM switch is defined, determine an OFF value
uint16_t value;
float value;
if (modeActivationCondition->range.startStep > 0) {
value = MODE_STEP_TO_CHANNEL_VALUE((modeActivationCondition->range.startStep - 1));
} else {
@ -377,7 +378,7 @@ void rxInit(void)
}
// Setup source frame RSSI filtering to take averaged values every FRAME_ERR_RESAMPLE_US
pt1FilterInit(&frameErrFilter, pt1FilterGain(GET_FRAME_ERR_LPF_FREQUENCY(rxConfig()->rssi_src_frame_lpf_period), FRAME_ERR_RESAMPLE_US/1000000.0));
pt1FilterInit(&frameErrFilter, pt1FilterGain(GET_FRAME_ERR_LPF_FREQUENCY(rxConfig()->rssi_src_frame_lpf_period), FRAME_ERR_RESAMPLE_US * 1e-6f));
// Configurable amount of filtering to remove excessive jumpiness of the values on the osd
float k = (256.0f - rxConfig()->rssi_smoothing) / 256.0f;