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AP_InertialNav: optimise some multiplies

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Andrew Tridgell 2013-04-21 22:24:09 +10:00
parent 01a4fabf9e
commit 1849aca0e9
1 changed files with 10 additions and 7 deletions
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17
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -63,16 +63,19 @@ void AP_InertialNav::update(float dt)
//Convert North-East-Down to North-East-Up //Convert North-East-Down to North-East-Up
accel_ef.z = -accel_ef.z; accel_ef.z = -accel_ef.z;
accel_correction_ef.x += _position_error.x * _k3_xy * dt; float tmp = _k3_xy * dt;
accel_correction_ef.y += _position_error.y * _k3_xy * dt; accel_correction_ef.x += _position_error.x * tmp;
accel_correction_ef.y += _position_error.y * tmp;
accel_correction_ef.z += _position_error.z * _k3_z * dt; accel_correction_ef.z += _position_error.z * _k3_z * dt;
_velocity.x += _position_error.x * _k2_xy * dt; tmp = _k2_xy * dt;
_velocity.y += _position_error.y * _k2_xy * dt; _velocity.x += _position_error.x * tmp;
_velocity.y += _position_error.y * tmp;
_velocity.z += _position_error.z * _k2_z * dt; _velocity.z += _position_error.z * _k2_z * dt;
_position_correction.x += _position_error.x * _k1_xy * dt; tmp = _k1_xy * dt;
_position_correction.y += _position_error.y * _k1_xy * dt; _position_correction.x += _position_error.x * tmp;
_position_correction.y += _position_error.y * tmp;
_position_correction.z += _position_error.z * _k1_z * dt; _position_correction.z += _position_error.z * _k1_z * dt;
// calculate velocity increase adding new acceleration from accelerometers // calculate velocity increase adding new acceleration from accelerometers
@ -302,7 +305,7 @@ void AP_InertialNav::check_baro()
// calculate time since last baro reading // calculate time since last baro reading
baro_update_time = _baro->get_last_update(); baro_update_time = _baro->get_last_update();
if( baro_update_time != _baro_last_update ) { if( baro_update_time != _baro_last_update ) {
float dt = (float)(baro_update_time - _baro_last_update) / 1000.0f; float dt = (float)(baro_update_time - _baro_last_update) * 0.001f;
// call correction method // call correction method
correct_with_baro(_baro->get_altitude()*100, dt); correct_with_baro(_baro->get_altitude()*100, dt);
_baro_last_update = baro_update_time; _baro_last_update = baro_update_time;