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DataFlash: optimize logging climbrate - call function one and reuse result

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This commit is contained in:
Tom Pittenger 2016-05-17 18:27:39 -07:00
parent b2fb2f3949
commit 32d51e346d
1 changed files with 4 additions and 3 deletions
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7
libraries/DataFlash/LogFile.cpp
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@ -826,6 +826,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro, uint64_t time_us)
if (time_us == 0) {
time_us = AP_HAL::micros64();
}
float climbrate = baro.get_climb_rate();
float drift_offset = baro.get_baro_drift_offset();
struct log_BARO pkt = {
LOG_PACKET_HEADER_INIT(LOG_BARO_MSG),
@ -833,7 +834,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro, uint64_t time_us)
altitude : baro.get_altitude(0),
pressure : baro.get_pressure(0),
temperature : (int16_t)(baro.get_temperature(0) * 100 + 0.5f),
climbrate : baro.get_climb_rate(),
climbrate : climbrate,
sample_time_ms: baro.get_last_update(0),
drift_offset : drift_offset,
};
@ -846,7 +847,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro, uint64_t time_us)
altitude : baro.get_altitude(1),
pressure : baro.get_pressure(1),
temperature : (int16_t)(baro.get_temperature(1) * 100 + 0.5f),
climbrate : baro.get_climb_rate(),
climbrate : climbrate,
sample_time_ms: baro.get_last_update(1),
drift_offset : drift_offset,
};
@ -860,7 +861,7 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro, uint64_t time_us)
altitude : baro.get_altitude(2),
pressure : baro.get_pressure(2),
temperature : (int16_t)(baro.get_temperature(2) * 100 + 0.5f),
climbrate : baro.get_climb_rate(),
climbrate : climbrate,
sample_time_ms: baro.get_last_update(2),
drift_offset : drift_offset,
};