rcvr activity: Speed up activity acquisition

Activity detection logic can now move through
the active receivers more quickly.

flight/Modules/ManualControl/manualcontrol.c

@@ -89,7 +89,7 @@ static bool okToArm(void);
 static bool validInputRange(int16_t min, int16_t max, uint16_t value);
 
 #define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
-#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 5
+#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
 struct rcvr_activity_fsm {
 	ManualControlSettingsChannelGroupsOptions group;
 	uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP];
@@ -347,31 +347,23 @@ static void resetRcvrActivity(struct rcvr_activity_fsm * fsm)
 	fsm->sample_count = 0;
 }
 
-static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm)
+static void updateRcvrActivitySample(uint32_t rcvr_id, uint16_t samples[], uint8_t max_channels) {
+	for (uint8_t channel = 0; channel < max_channels; channel++) {
+		samples[channel] = PIOS_RCVR_Read(rcvr_id, channel);
+	}
+}
+
+static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm * fsm)
 {
 	bool activity_updated = false;
 
-	if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+	/* Compare the current value to the previous sampled value */
-		/* We're out of range, reset things */
-		resetRcvrActivity(fsm);
-	}
-
-	extern uint32_t pios_rcvr_group_map[];
-	if (!pios_rcvr_group_map[fsm->group]) {
-		/* Unbound group, skip it */
-		goto group_completed;
-	}
-
-	/* Sample the channel */
 	for (uint8_t channel = 0;
 	     channel < RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP;
 	     channel++) {
-		if (fsm->sample_count == 0) {
-			fsm->prev[channel] = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel);
-		} else {
 		uint16_t delta;
 		uint16_t prev = fsm->prev[channel];
-			uint16_t curr = PIOS_RCVR_Read(pios_rcvr_group_map[fsm->group], channel);
+		uint16_t curr = PIOS_RCVR_Read(rcvr_id, channel);
 		if (curr > prev) {
 			delta = curr - prev;
 		} else {
@@ -412,31 +404,61 @@ static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm)
 			activity_updated = true;
 		}
 	}
-	}
-
-	if (++fsm->sample_count < 2) {
 	return (activity_updated);
 }
 
+static bool updateRcvrActivity(struct rcvr_activity_fsm * fsm)
+{
+	bool activity_updated = false;
+
+	if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
+		/* We're out of range, reset things */
+		resetRcvrActivity(fsm);
+	}
+
+	extern uint32_t pios_rcvr_group_map[];
+	if (!pios_rcvr_group_map[fsm->group]) {
+		/* Unbound group, skip it */
+		goto group_completed;
+	}
+
+	if (fsm->sample_count == 0) {
+		/* Take a sample of each channel in this group */
+		updateRcvrActivitySample(pios_rcvr_group_map[fsm->group],
+					fsm->prev,
+					NELEMENTS(fsm->prev));
+		fsm->sample_count++;
+		return (false);
+	}
+
+	/* Compare with previous sample */
+	activity_updated = updateRcvrActivityCompare(pios_rcvr_group_map[fsm->group], fsm);
+
+group_completed:
 	/* Reset the sample counter */
 	fsm->sample_count = 0;
 
-	/*
+	/* Find the next active group, but limit search so we can't loop forever here */
-	 * Group Completed
+	for (uint8_t i = 0; i < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE; i++) {
-	 */
+		/* Move to the next group */
-
+		fsm->group++;
-group_completed:
+		if (fsm->group >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
-	/* Start over at channel zero */
+			/* Wrap back to the first group */
-	if (++fsm->group < MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
-		return (activity_updated);
-	}
-
-	/*
-	 * All groups completed
-	 */
-
-	/* Start over at group zero */
 			fsm->group = 0;
+		}
+		if (pios_rcvr_group_map[fsm->group]) {
+			/* 
+			 * Found an active group, take a sample here to avoid an
+			 * extra 20ms delay in the main thread so we can speed up
+			 * this algorithm.
+			 */
+			updateRcvrActivitySample(pios_rcvr_group_map[fsm->group],
+						fsm->prev,
+						NELEMENTS(fsm->prev));
+			fsm->sample_count++;
+			break;
+		}
+	}
 
 	return (activity_updated);
 }

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -542,7 +542,7 @@ void ConfigInputWidget::identifyControls()
             ++debounce;
         lastChannel.group= currentChannel.group;
         lastChannel.number=currentChannel.number;
-        if(!usedChannels.contains(lastChannel) && debounce>5)
+        if(!usedChannels.contains(lastChannel) && debounce>1)
         {
             debounce=0;
             usedChannels.append(lastChannel);