Use defines instead of hardcoded magic values for maximum number of o…

…utput channels and rpm filter time constant
PX4 · Dec 18, 2024 · 3fc3039 · 3fc3039
1 parent 887ff6a
commit 3fc3039
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Showing 5 changed files with 7 additions and 5 deletions.
diff --git a/src/drivers/camera_capture/camera_capture.cpp b/src/drivers/camera_capture/camera_capture.cpp
@@ -71,7 +71,7 @@ CameraCapture::CameraCapture() :
 	_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
 	param_get(_p_camera_capture_edge, &_camera_capture_edge);
 
-	for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
+	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS && _capture_channel == -1; ++i) {
 		char param_name[17];
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
 		param_t function_handle = param_find(param_name);

diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
@@ -32,6 +32,7 @@
  ****************************************************************************/
 
 #include "camera_interface.h"
+#include <drivers/drv_pwm_output.h>
 #include <px4_platform_common/log.h>
 #include <board_config.h>
 
@@ -44,7 +45,7 @@ void CameraInterface::get_pins()
 
 	unsigned pin_index = 0;
 
-	for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
+	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS && pin_index < arraySize(_pins); ++i) {
 		char param_name[17];
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
 		param_t function_handle = param_find(param_name);

diff --git a/src/drivers/pps_capture/PPSCapture.cpp b/src/drivers/pps_capture/PPSCapture.cpp
@@ -63,7 +63,7 @@ bool PPSCapture::init()
 {
 	bool success = false;
 
-	for (unsigned i = 0; i < 16; ++i) {
+	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; ++i) {
 		char param_name[17];
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
 		param_t function_handle = param_find(param_name);

diff --git a/src/drivers/rpm_capture/RPMCapture.cpp b/src/drivers/rpm_capture/RPMCapture.cpp
@@ -59,7 +59,7 @@ bool RPMCapture::init()
 {
 	bool success = false;
 
-	for (unsigned i = 0; i < 16; ++i) {
+	for (unsigned i = 0; i < PWM_OUTPUT_MAX_CHANNELS; ++i) {
 		char param_name[17];
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1);
 		param_t function_handle = param_find(param_name);
@@ -138,7 +138,7 @@ void RPMCapture::Run()
 		// Don't update RPM filter with outliers
 		const float dt = math::min((now - _timestamp_last_update) * 1e-6f, 1.f);
 		_timestamp_last_update = now;
-		_rpm_filter.setParameters(dt, 0.5f);
+		_rpm_filter.setParameters(dt, RPM_FILTER_TIME_CONSTANT);
 		_rpm_filter.update(_rpm_median_filter.apply(rpm_raw));
 	}
 

diff --git a/src/drivers/rpm_capture/RPMCapture.hpp b/src/drivers/rpm_capture/RPMCapture.hpp
@@ -72,6 +72,7 @@ class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem,
 private:
 	static constexpr hrt_abstime RPM_PULSE_TIMEOUT = 1_s;
 	static constexpr float RPM_MAX_VALUE = 50e3f;
+	static constexpr float RPM_FILTER_TIME_CONSTANT = .5f;
 
 	void Run() override;