Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: optimize millis() calls by reusing result

This commit is contained in:
Tom Pittenger 2016-05-17 18:21:21 -07:00
parent bc5fb10ddc
commit b2fb2f3949
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduPlane/altitude.cpp
View File

@ -626,7 +626,8 @@ void Plane::rangefinder_height_update(void)
// remember the last correction. Use a low pass filter unless
// the old data is more than 5 seconds old
if (millis() - rangefinder_state.last_correction_time_ms > 5000) {
uint32_t now = millis();
if (now - rangefinder_state.last_correction_time_ms > 5000) {
rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction;
auto_state.initial_land_slope = auto_state.land_slope;
@ -640,7 +641,7 @@ void Plane::rangefinder_height_update(void)
memset(&rangefinder_state, 0, sizeof(rangefinder_state));
}
}
rangefinder_state.last_correction_time_ms = millis();
rangefinder_state.last_correction_time_ms = now;
}
}
#endif