Plane: Update airbrake channel assignment in set_control_channels() t…

…o avoid expensive call in airbrake_update()
TForce1 · Sep 2, 2020 · 590ebb1 · 590ebb1
1 parent f1290a2
commit 590ebb1
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
@@ -177,6 +177,7 @@ class Plane : public AP_Vehicle {
     RC_Channel *channel_pitch;
     RC_Channel *channel_throttle;
     RC_Channel *channel_rudder;
+    RC_Channel *channel_airbrake;
 
     AP_Logger logger;
 

diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp
@@ -40,6 +40,9 @@ void Plane::set_control_channels(void)
         SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100);
     }
 
+    // update airbrake channel assignment
+    channel_airbrake = rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRBRAKE);
+
     // update manual forward throttle channel assignment
     quadplane.rc_fwd_thr_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::FWD_THR);
 

diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
@@ -296,11 +296,9 @@ void Plane::airbrake_update(void)
 {
     // Calculate any manual airbrake input from RC channel option.
     int8_t manual_airbrake_percent = 0;
-
-    RC_Channel *airbrake_in_ch = rc().find_channel_for_option(RC_Channel::AUX_FUNC::AIRBRAKE);
-
-    if (airbrake_in_ch != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) {
-        manual_airbrake_percent = airbrake_in_ch->percent_input();
+
+    if (channel_airbrake != nullptr && !failsafe.rc_failsafe && failsafe.throttle_counter == 0) {
+        manual_airbrake_percent = channel_airbrake->percent_input();
     }
 
     // Calculate auto airbrake from negative throttle.