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Copter: remove get_angle_targets_for_reporting fn

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this saves a tiny amount of time by removing the memory copy of a
Vector3f
This commit is contained in:
Randy Mackay 2014-08-22 22:52:06 +09:00
parent 06e06438b3
commit d242fcaae5
3 changed files with 2 additions and 9 deletions
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3
ArduCopter/GCS_Mavlink.pde
View File

@ -276,8 +276,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
{
Vector3f targets;
get_angle_targets_for_reporting(targets);
const Vector3f &targets = attitude_control.angle_ef_targets();
mavlink_msg_nav_controller_output_send(
chan,
targets.x / 1.0e2f,

3
ArduCopter/Log.pde
View File

@ -469,8 +469,7 @@ struct PACKED log_Attitude {
// Write an attitude packet
static void Log_Write_Attitude()
{
Vector3f targets;
get_angle_targets_for_reporting(targets);
const Vector3f &targets = attitude_control.angle_ef_targets();
struct log_Attitude pkt = {
LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG),
time_ms : hal.scheduler->millis(),

5
ArduCopter/flight_mode.pde
View File

@ -327,8 +327,3 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode)
}
}
// get_angle_targets_for_reporting() - returns 3d vector of roll, pitch and yaw target angles for logging and reporting to GCS
static void get_angle_targets_for_reporting(Vector3f& targets)
{
targets = attitude_control.angle_ef_targets();
}