From d242fcaae58bd487296172f7da5f3524c7230871 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Fri, 22 Aug 2014 22:52:06 +0900 Subject: [PATCH] Copter: remove get_angle_targets_for_reporting fn this saves a tiny amount of time by removing the memory copy of a Vector3f --- ArduCopter/GCS_Mavlink.pde | 3 +-- ArduCopter/Log.pde | 3 +-- ArduCopter/flight_mode.pde | 5 ----- 3 files changed, 2 insertions(+), 9 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde index 00b0d36e7f..b1728e46ab 100644 --- a/ArduCopter/GCS_Mavlink.pde +++ b/ArduCopter/GCS_Mavlink.pde @@ -276,8 +276,7 @@ static void NOINLINE send_location(mavlink_channel_t chan) static void NOINLINE send_nav_controller_output(mavlink_channel_t chan) { - Vector3f targets; - get_angle_targets_for_reporting(targets); + const Vector3f &targets = attitude_control.angle_ef_targets(); mavlink_msg_nav_controller_output_send( chan, targets.x / 1.0e2f, diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde index 1b146eadba..0f0c8a0fb5 100644 --- a/ArduCopter/Log.pde +++ b/ArduCopter/Log.pde @@ -469,8 +469,7 @@ struct PACKED log_Attitude { // Write an attitude packet static void Log_Write_Attitude() { - Vector3f targets; - get_angle_targets_for_reporting(targets); + const Vector3f &targets = attitude_control.angle_ef_targets(); struct log_Attitude pkt = { LOG_PACKET_HEADER_INIT(LOG_ATTITUDE_MSG), time_ms : hal.scheduler->millis(), diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde index 9caf7eb316..0776191991 100644 --- a/ArduCopter/flight_mode.pde +++ b/ArduCopter/flight_mode.pde @@ -327,8 +327,3 @@ print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode) } } -// get_angle_targets_for_reporting() - returns 3d vector of roll, pitch and yaw target angles for logging and reporting to GCS -static void get_angle_targets_for_reporting(Vector3f& targets) -{ - targets = attitude_control.angle_ef_targets(); -}