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AP_Arming: cache results of get_gyro_count and get_accel_count

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This commit is contained in:
Peter Barker 2018-06-16 09:06:53 +10:00 committed by Francisco Ferreira
parent 4055256878
commit 997a527c1b
1 changed files with 6 additions and 4 deletions
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10
libraries/AP_Arming/AP_Arming.cpp
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@ -171,13 +171,14 @@ bool AP_Arming::logging_checks(bool report)
bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
{
if (ins.get_accel_count() <= 1) {
const uint8_t accel_count = ins.get_accel_count();
if (accel_count <= 1) {
return true;
}
const Vector3f &prime_accel_vec = ins.get_accel();
const uint32_t now = AP_HAL::millis();
for(uint8_t i=0; i<ins.get_accel_count(); i++) {
for(uint8_t i=0; i<accel_count; i++) {
if (!ins.use_accel(i)) {
continue;
}
@ -211,13 +212,14 @@ bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
bool AP_Arming::ins_gyros_consistent(const AP_InertialSensor &ins)
{
if (ins.get_gyro_count() <= 1) {
const uint8_t gyro_count = ins.get_gyro_count();
if (gyro_count <= 1) {
return true;
}
const Vector3f &prime_gyro_vec = ins.get_gyro();
const uint32_t now = AP_HAL::millis();
for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
for(uint8_t i=0; i<gyro_count; i++) {
if (!ins.use_gyro(i)) {
continue;
}