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AP_Compass: set only if changed to save space in param storage

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bugobliterator 2020-08-27 00:36:46 +05:30 committed by Andrew Tridgell
parent 5a8b1639d0
commit de6b48f922
1 changed files with 13 additions and 9 deletions
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22
libraries/AP_Compass/AP_Compass.cpp
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@ -700,7 +700,7 @@ void Compass::init()
for (Priority j(i+1); j<COMPASS_MAX_INSTANCES; j++) { for (Priority j(i+1); j<COMPASS_MAX_INSTANCES; j++) {
int32_t temp; int32_t temp;
if (_priority_did_stored_list[j] == _priority_did_stored_list[i]) { if (_priority_did_stored_list[j] == _priority_did_stored_list[i]) {
_priority_did_stored_list[j].set_and_save(0); _priority_did_stored_list[j].set_and_save_ifchanged(0);
} }
if (_priority_did_stored_list[j] == 0) { if (_priority_did_stored_list[j] == 0) {
continue; continue;
@ -733,6 +733,10 @@ void Compass::init()
#endif #endif
#if COMPASS_MAX_INSTANCES > 1 #if COMPASS_MAX_INSTANCES > 1
// This method calls set_and_save_ifchanged on parameters
// which are set() but not saved() during normal runtime,
// do not move this call without ensuring that is not happening
// read comments under set_and_save_ifchanged for details
_reorder_compass_params(); _reorder_compass_params();
#endif #endif
@ -833,14 +837,14 @@ void Compass::_reorder_compass_params()
void Compass::mag_state::copy_from(const Compass::mag_state& state) void Compass::mag_state::copy_from(const Compass::mag_state& state)
{ {
external.set_and_save(state.external); external.set_and_save_ifchanged(state.external);
orientation.set_and_save(state.orientation); orientation.set_and_save_ifchanged(state.orientation);
offset.set_and_save(state.offset); offset.set_and_save_ifchanged(state.offset);
diagonals.set_and_save(state.diagonals); diagonals.set_and_save_ifchanged(state.diagonals);
offdiagonals.set_and_save(state.offdiagonals); offdiagonals.set_and_save_ifchanged(state.offdiagonals);
scale_factor.set_and_save(state.scale_factor); scale_factor.set_and_save_ifchanged(state.scale_factor);
dev_id.set_and_save(state.dev_id); dev_id.set_and_save_ifchanged(state.dev_id);
motor_compensation.set_and_save(state.motor_compensation); motor_compensation.set_and_save_ifchanged(state.motor_compensation);
expected_dev_id = state.expected_dev_id; expected_dev_id = state.expected_dev_id;
detected_dev_id = state.detected_dev_id; detected_dev_id = state.detected_dev_id;
} }