From 997a527c1b2315a525b06d0d52a368c33406dfb8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 16 Jun 2018 09:06:53 +1000
Subject: [PATCH] AP_Arming: cache results of get_gyro_count and
 get_accel_count

---
 libraries/AP_Arming/AP_Arming.cpp | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index e63045450e..0231095a82 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -171,13 +171,14 @@ bool AP_Arming::logging_checks(bool report)
 
 bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
 {
-    if (ins.get_accel_count() <= 1) {
+    const uint8_t accel_count = ins.get_accel_count();
+    if (accel_count <= 1) {
         return true;
     }
 
     const Vector3f &prime_accel_vec = ins.get_accel();
     const uint32_t now = AP_HAL::millis();
-    for(uint8_t i=0; i<ins.get_accel_count(); i++) {
+    for(uint8_t i=0; i<accel_count; i++) {
         if (!ins.use_accel(i)) {
             continue;
         }
@@ -211,13 +212,14 @@ bool AP_Arming::ins_accels_consistent(const AP_InertialSensor &ins)
 
 bool AP_Arming::ins_gyros_consistent(const AP_InertialSensor &ins)
 {
-    if (ins.get_gyro_count() <= 1) {
+    const uint8_t gyro_count = ins.get_gyro_count();
+    if (gyro_count <= 1) {
         return true;
     }
 
     const Vector3f &prime_gyro_vec = ins.get_gyro();
     const uint32_t now = AP_HAL::millis();
-    for(uint8_t i=0; i<ins.get_gyro_count(); i++) {
+    for(uint8_t i=0; i<gyro_count; i++) {
         if (!ins.use_gyro(i)) {
             continue;
         }