Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 15:53:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Proximity: minor performance enhancements

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Proximity/AP_Proximity_Backend.cpp
View File

@ -93,6 +93,7 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
for (uint8_t i=0; i<_num_sectors; i++) { for (uint8_t i=0; i<_num_sectors; i++) {
if (_distance_valid[i]) { if (_distance_valid[i]) {
valid_distances = true; valid_distances = true;
break;
} }
} }
if (!valid_distances) { if (!valid_distances) {
@ -102,11 +103,10 @@ bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Dist
// initialise orientations and directions // initialise orientations and directions
// see MAV_SENSOR_ORIENTATION for orientations (0 = forward, 1 = 45 degree clockwise from north, etc) // see MAV_SENSOR_ORIENTATION for orientations (0 = forward, 1 = 45 degree clockwise from north, etc)
// distances initialised to maximum distances // 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++) { for (uint8_t i=0; i<PROXIMITY_MAX_DIRECTION; i++) {
prx_dist_array.orientation[i] = i; prx_dist_array.orientation[i] = i;
prx_dist_array.distance[i] = distance_max(); prx_dist_array.distance[i] = distance_max();
dist_set[i] = false;
} }
// cycle through all sectors filling in distances // cycle through all sectors filling in distances