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AP_Proximity: minor performance enhancements

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Peter Barker 2019-05-24 11:34:44 +10:00 committed by Andrew Tridgell
parent 1c7a8c1509
commit dbbf09d018
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -93,6 +93,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
for (uint8_t i=0; i<_num_sectors; i++) {
if (_distance_valid[i]) {
valid_distances = true;
break;
}
}
if (!valid_distances) {
@ -102,11 +103,10 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
// initialise orientations and directions
// see MAV_SENSOR_ORIENTATION for orientations (0 = forward, 1 = 45 degree clockwise from north, etc)
// distances initialised to maximum distances
bool dist_set[PROXIMITY_MAX_DIRECTION];
bool dist_set[PROXIMITY_MAX_DIRECTION]{};
for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) {
prx_dist_array.orientation[i] = i;
prx_dist_array.distance[i] = distance_max();
dist_set[i] = false;
}
// cycle through all sectors filling in distances