Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Scheduler: remove memoisation in loop_period_s()

This commit is contained in:
Peter Barker 2017-08-31 10:45:20 +10:00 committed by Andrew Tridgell
parent a6ac37d0ba
commit f2242e07db
1 changed files with 2 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -98,11 +98,8 @@ public:
return 1000000UL / _loop_rate_hz; return 1000000UL / _loop_rate_hz;
} }
// get the time-allowed-per-loop: // get the time-allowed-per-loop:
float get_loop_period_s() { float get_loop_period_s() const {
if (is_zero(_loop_period_s)) { return 1.0 / _loop_rate_hz;
_loop_period_s = 1.0 / _loop_rate_hz;
}
return _loop_period_s;
} }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -121,7 +118,6 @@ private:
// the other places which take a copy of this at startup and don't // the other places which take a copy of this at startup and don't
// get refreshed. So, really, don't. // get refreshed. So, really, don't.
AP_Int16 _loop_rate_hz; AP_Int16 _loop_rate_hz;
float _loop_period_s;
// progmem list of tasks to run // progmem list of tasks to run
const struct Task *_tasks; const struct Task *_tasks;