From a83a47682db7d6d6ff9c601f85772853af625d44 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 22 Aug 2014 22:52:06 +0900
Subject: [PATCH] Copter: remove get_angle_targets_for_reporting fn
this saves a tiny amount of time by removing the memory copy of a
Vector3f
---
ArduCopter/GCS_Mavlink.pde | 3 +--
ArduCopter/Log.pde | 3 +--
ArduCopter/flight_mode.pde | 5 -----
3 files changed, 2 insertions(+), 9 deletions(-)
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 00b0d36e7..b1728e46a 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -276,8 +276,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
- Vector3f targets;
- get_angle_targets_for_reporting(targets);
+ const Vector3f &targets = attitude_control.angle_ef_targets();
mavlink_msg_nav_controller_output_send(
chan,
targets.x / 1.0e2f,
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 1b146eadb..0f0c8a0fb 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -469,8 +469,7 @@ struct PACKED log_Attitude {
// Write an attitude packet
static void Log_Write_Attitude()
{
- Vector3f targets;
- get_angle_targets_for_reporting(targets);
+ const Vector3f &targets = attitude_control.angle_ef_targets();
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),
diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index 9caf7eb31..077619199 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -327,8 +327,3 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
}
}
-// get_angle_targets_for_reporting() - returns 3d vector of roll, pitch and yaw target angles for logging and reporting to GCS
-static void get_angle_targets_for_reporting(Vector3f& targets)
-{
- targets = attitude_control.angle_ef_targets();
-}
--
GitLab