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Split the "normal" and "absolute" adjustments into two separate lists to avoid iterating through entries twice.
This commit is contained in:
Bruce Luckcuck 2018-09-18 13:36:58 -04:00
parent 044648ca12
commit a38242bc2e
1 changed files with 21 additions and 14 deletions
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35
src/main/fc/rc_adjustments.c
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@ -77,8 +77,10 @@ uint8_t pidAudioPositionToModeMap[7] = {
static pidProfile_t *pidProfile; static pidProfile_t *pidProfile;
static int activeAdjustmentRangeCount = ADJUSTMENT_RANGE_COUNT_INVALID; static int activeAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
static uint8_t activeAdjustmentRangeArray[MAX_ADJUSTMENT_RANGE_COUNT]; static uint8_t activeAdjustmentArray[MAX_ADJUSTMENT_RANGE_COUNT];
static int activeAbsoluteAdjustmentCount;
static uint8_t activeAbsoluteAdjustmentArray[MAX_ADJUSTMENT_RANGE_COUNT];
static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) static void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue)
{ {
@ -674,19 +676,24 @@ static void calcActiveAdjustmentRanges(void)
adjustmentRange_t defaultAdjustmentRange; adjustmentRange_t defaultAdjustmentRange;
memset(&defaultAdjustmentRange, 0, sizeof(defaultAdjustmentRange)); memset(&defaultAdjustmentRange, 0, sizeof(defaultAdjustmentRange));
activeAdjustmentRangeCount = 0; activeAdjustmentCount = 0;
activeAbsoluteAdjustmentCount = 0;
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) { for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
const adjustmentRange_t * const adjustmentRange = adjustmentRanges(i); const adjustmentRange_t * const adjustmentRange = adjustmentRanges(i);
if (memcmp(adjustmentRange, &defaultAdjustmentRange, sizeof(defaultAdjustmentRange)) != 0) { if (memcmp(adjustmentRange, &defaultAdjustmentRange, sizeof(defaultAdjustmentRange)) != 0) {
activeAdjustmentRangeArray[activeAdjustmentRangeCount++] = i; if (adjustmentRange->adjustmentCenter == 0) {
activeAdjustmentArray[activeAdjustmentCount++] = i;
} else {
activeAbsoluteAdjustmentArray[activeAbsoluteAdjustmentCount++] = i;
}
} }
} }
} }
static void updateAdjustmentStates(void) static void updateAdjustmentStates(void)
{ {
for (int index = 0; index < activeAdjustmentRangeCount; index++) { for (int index = 0; index < activeAdjustmentCount; index++) {
const adjustmentRange_t * const adjustmentRange = adjustmentRanges(activeAdjustmentRangeArray[index]); const adjustmentRange_t * const adjustmentRange = adjustmentRanges(activeAdjustmentArray[index]);
// Only use slots if center value has not been specified, otherwise apply values directly (scaled) from aux channel // Only use slots if center value has not been specified, otherwise apply values directly (scaled) from aux channel
if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range) && if (isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range) &&
(adjustmentRange->adjustmentCenter == 0)) { (adjustmentRange->adjustmentCenter == 0)) {
@ -706,8 +713,8 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
const bool canUseRxData = rxIsReceivingSignal(); const bool canUseRxData = rxIsReceivingSignal();
// Calculate the new activeAdjustmentRangeCount if required // Recalculate the new active adjustments if required
if (activeAdjustmentRangeCount == ADJUSTMENT_RANGE_COUNT_INVALID) { if (activeAdjustmentCount == ADJUSTMENT_RANGE_COUNT_INVALID) {
calcActiveAdjustmentRanges(); calcActiveAdjustmentRanges();
} }
@ -780,21 +787,21 @@ void processRcAdjustments(controlRateConfig_t *controlRateConfig)
} }
// Process Absolute adjustments // Process Absolute adjustments
for (int index = 0; index < activeAdjustmentRangeCount; index++) { for (int i = 0; i < activeAbsoluteAdjustmentCount; i++) {
static int16_t lastRcData[MAX_ADJUSTMENT_RANGE_COUNT] = { 0 }; static int16_t lastRcData[MAX_ADJUSTMENT_RANGE_COUNT] = { 0 };
int index = activeAbsoluteAdjustmentArray[i];
const adjustmentRange_t * const adjustmentRange = adjustmentRanges(activeAdjustmentRangeArray[index]); const adjustmentRange_t * const adjustmentRange = adjustmentRanges(index);
const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentRange->auxSwitchChannelIndex; const uint8_t channelIndex = NON_AUX_CHANNEL_COUNT + adjustmentRange->auxSwitchChannelIndex;
const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET]; const adjustmentConfig_t *adjustmentConfig = &defaultAdjustmentConfigs[adjustmentRange->adjustmentFunction - ADJUSTMENT_FUNCTION_CONFIG_INDEX_OFFSET];
// If setting is defined for step adjustment and center value has been specified, apply values directly (scaled) from aux channel // If setting is defined for step adjustment and center value has been specified, apply values directly (scaled) from aux channel
if ((rcData[channelIndex] != lastRcData[activeAdjustmentRangeArray[index]]) && if ((rcData[channelIndex] != lastRcData[index]) &&
adjustmentRange->adjustmentCenter && adjustmentRange->adjustmentCenter &&
(adjustmentConfig->mode == ADJUSTMENT_MODE_STEP) && (adjustmentConfig->mode == ADJUSTMENT_MODE_STEP) &&
isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) { isRangeActive(adjustmentRange->auxChannelIndex, &adjustmentRange->range)) {
int value = (((rcData[channelIndex] - PWM_RANGE_MIDDLE) * adjustmentRange->adjustmentScale) / (PWM_RANGE_MIDDLE - PWM_RANGE_MIN)) + adjustmentRange->adjustmentCenter; int value = (((rcData[channelIndex] - PWM_RANGE_MIDDLE) * adjustmentRange->adjustmentScale) / (PWM_RANGE_MIDDLE - PWM_RANGE_MIN)) + adjustmentRange->adjustmentCenter;
lastRcData[activeAdjustmentRangeArray[index]] = rcData[channelIndex]; lastRcData[index] = rcData[channelIndex];
applyAbsoluteAdjustment(controlRateConfig, adjustmentRange->adjustmentFunction, value); applyAbsoluteAdjustment(controlRateConfig, adjustmentRange->adjustmentFunction, value);
pidInitConfig(pidProfile); pidInitConfig(pidProfile);
} }
@ -829,5 +836,5 @@ int getAdjustmentsRangeValue(void)
void activeAdjustmentRangeReset(void) void activeAdjustmentRangeReset(void)
{ {
activeAdjustmentRangeCount = ADJUSTMENT_RANGE_COUNT_INVALID; activeAdjustmentCount = ADJUSTMENT_RANGE_COUNT_INVALID;
} }