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AP_MotorsMatrix: remove unused _num_motors

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Saves 1 byte of RAM
This commit is contained in:
Randy Mackay 2014-02-09 18:10:09 +09:00 committed by Andrew Tridgell
parent 32a0992985
commit 2c6470f87b
2 changed files with 2 additions and 11 deletions
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7
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -377,7 +377,6 @@ void AP_MotorsMatrix::add_motor_raw(int8_t motor_num, float roll_fac, float pitc
// increment number of motors if this motor is being newly motor_enabled // increment number of motors if this motor is being newly motor_enabled
if( !motor_enabled[motor_num] ) { if( !motor_enabled[motor_num] ) {
motor_enabled[motor_num] = true; motor_enabled[motor_num] = true;
_num_motors++;
} }
// set roll, pitch, thottle factors and opposite motor (for stability patch) // set roll, pitch, thottle factors and opposite motor (for stability patch)
@ -411,11 +410,6 @@ void AP_MotorsMatrix::remove_motor(int8_t motor_num)
{ {
// ensure valid motor number is provided // ensure valid motor number is provided
if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) { if( motor_num >= 0 && motor_num < AP_MOTORS_MAX_NUM_MOTORS ) {
// if the motor was enabled decrement the number of motors
if( motor_enabled[motor_num] )
_num_motors--;
// disable the motor, set all factors to zero // disable the motor, set all factors to zero
motor_enabled[motor_num] = false; motor_enabled[motor_num] = false;
_roll_factor[motor_num] = 0; _roll_factor[motor_num] = 0;
@ -430,5 +424,4 @@ void AP_MotorsMatrix::remove_all_motors()
for( int8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) { for( int8_t i=0; i<AP_MOTORS_MAX_NUM_MOTORS; i++ ) {
remove_motor(i); remove_motor(i);
} }
_num_motors = 0;
} }

6
libraries/AP_Motors/AP_MotorsMatrix.h
View File

@ -22,9 +22,8 @@ public:
/// Constructor /// Constructor
AP_MotorsMatrix( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_MotorsMatrix( RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) :
AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz), AP_Motors(rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz)
_num_motors(0) { {};
};
// init // init
virtual void Init(); virtual void Init();
@ -67,7 +66,6 @@ protected:
// add_motor using raw roll, pitch, throttle and yaw factors // add_motor using raw roll, pitch, throttle and yaw factors
void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order); void add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);
int8_t _num_motors; // not a very useful variable as you really need to check the motor_enabled array to see which motors are enabled
float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll float _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch float _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1) float _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to yaw (normally 1 or -1)