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SRV_Channels: find_channel: use channel mask remove need for search over all channels #27849

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Aug 19, 2024
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SRV_Channels: find_channel: use channel mask remove need for search over all channels #27849

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23 changes: 16 additions & 7 deletions libraries/SRV_Channel/SRV_Channel_aux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -565,16 +565,25 @@ bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t fun
// find first channel that a function is assigned to
bool SRV_Channels::find_channel(SRV_Channel::Aux_servo_function_t function, uint8_t &chan)
{
if (!function_assigned(function)) {
// Must have populated channel masks
if (!initialised) {
update_aux_servo_function();
}
Comment on lines +569 to +571
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We do this in several places, we really should not have too.... We could remove it and put in a SITL only panic.


// Make sure function is valid
if (!SRV_Channel::valid_function(function)) {
return false;
}
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (channels[i].function == function) {
chan = channels[i].ch_num;
return true;
}

// Get the index of the first set bit, returns 0 if no bits are set
const int first_chan = __builtin_ffs(functions[function].channel_mask);
if (first_chan == 0) {
return false;
}
return false;

// Convert to 0 indexed
chan = first_chan - 1;
return true;
}

/*
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