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AP_InertialNav: move variable definitions to elide unused default

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construction of objects (saves 106 bytes)
This commit is contained in:
Tobias 2013-07-24 18:01:11 +02:00 committed by Randy Mackay
parent c3309d909c
commit 6c825eace2
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -34,9 +34,6 @@ void AP_InertialNav::init()
// update - updates velocities and positions using latest info from ahrs, ins and barometer if new data is available; // update - updates velocities and positions using latest info from ahrs, ins and barometer if new data is available;
void AP_InertialNav::update(float dt) void AP_InertialNav::update(float dt)
{ {
Vector3f accel_ef;
Vector3f velocity_increase;
// discard samples where dt is too large // discard samples where dt is too large
if( dt > 0.1f ) { if( dt > 0.1f ) {
return; return;
@ -48,7 +45,7 @@ void AP_InertialNav::update(float dt)
// check gps // check gps
check_gps(); check_gps();
accel_ef = _ahrs->get_accel_ef(); Vector3f accel_ef = _ahrs->get_accel_ef();
// remove influence of gravity // remove influence of gravity
accel_ef.z += GRAVITY_MSS; accel_ef.z += GRAVITY_MSS;
@ -79,7 +76,7 @@ void AP_InertialNav::update(float dt)
_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
velocity_increase = (accel_ef + accel_correction_ef) * dt; Vector3f velocity_increase = (accel_ef + accel_correction_ef) * dt;
// calculate new estimate of position // calculate new estimate of position
_position_base += (_velocity + velocity_increase*0.5) * dt; _position_base += (_velocity + velocity_increase*0.5) * dt;