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Plane: optimize millis() calls by reusing result

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