[WIP] remove the use of param_find("") #13076
Conversation
param_find() does binary search every time any other parameter is beeeing changed. which is extensive CPU proccess. This commit doesn't compile, because of calling non existing parameters FW_MAN_R_SC, FW_MAN_P_SC, FW_MAN_Y_SC
| param_t param_fw_man_p_sc = param_handle(px4::params::FW_MAN_P_SC); | ||
| param_t param_fw_man_y_sc = param_handle(px4::params::FW_MAN_Y_SC); | ||
|
|
||
| float roll_trim_active, pitch_trim_active, yaw_trim_active, roll_scale, pitch_scale, yaw_scale; |
There was a problem hiding this comment.
It's probably a bit pedantic here, but I think it's good practice to declare and initialize each of these on a separate line with a sane default value.
There was a problem hiding this comment.
@dagar the issue here is not mainly about the searching of the parameter, but about the problem that the rc_calibration search for parameter that doesn't exists, on some compilation
|
Cool, I forgot we had this now. Thanks for the reminder. #13081 |
BazookaJoe1900
force-pushed
the
pr-remove_param_find_rc_cal
branch
2 times, most recently
from
d26943c to
655cdbc
Compare
|
Nice work, this saves ~8.7KB of flash on px4_fmu-v5_default. |
| @@ -380,7 +381,7 @@ FixedwingAttitudeControl::vehicle_status_poll() | |||
|
|
|||
| int32_t vt_type = -1; | |||
|
|
|||
| if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) { | |||
| if (param_get(param_handle(px4::params::VT_TYPE), &vt_type) == PX4_OK) { | |||
There was a problem hiding this comment.
VTOL needs to be optional for FW & MC controllers.
There was a problem hiding this comment.
there are many issues about mixing VTOL/Rover/Multicopter/Fixwing
BazookaJoe1900
force-pushed
the
pr-remove_param_find_rc_cal
branch
from
655cdbc to
bf0052a
Compare
BazookaJoe1900
changed the title
BazookaJoe1900
force-pushed
the
pr-remove_param_find_rc_cal
branch
3 times, most recently
from
778886c to
13d0f2a
Compare
for most of the parameters
BazookaJoe1900
force-pushed
the
pr-remove_param_find_rc_cal
branch
from
13d0f2a to
af62eac
Compare
|
closed in favor to reduce the use of param_find("XXX") #13089 |
param_find() does binary search every time any other parameter is beeing changed. which is extensive CPU process.
This commit doesn't compile, because of calling non existing parameters FW_MAN_R_SC, FW_MAN_P_SC, FW_MAN_Y_SC
Describe problem solved by the proposed pull request
described on: 'extensive on every parameter change #12992'
The current problem is that do_trim_calibration() can be called on systems that doesn't has FW_MAN_* parameters. and in the new method, that does not compile