AP_AHRS: avoid unecessary work in update_orientation #11742
Closed
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
So we can detect transitions from uninitialised to anything else
This method is called at 10Hz by several vehicles. We do a chunk of work in here when doing a custom orientation - pointless if the orientation hasn't actually changed since last time we were called.
WickedShell
requested changes
Jul 8, 2019
| @@ -229,7 +229,14 @@ void AP_AHRS::add_trim(float roll_in_radians, float pitch_in_radians, bool save_ | |||
| // Set the board mounting orientation, may be called while disarmed | |||
| void AP_AHRS::update_orientation() | |||
| { | |||
| const enum Rotation orientation = (enum Rotation)_board_orientation.get(); | |||
| const Rotation orientation = (enum Rotation)_board_orientation.get(); | |||
| if (last_orientation == orientation) { | |||
There was a problem hiding this comment.
This breaks any changes to the orientation on the custom orientation, and would need to be done inside the first if block on line 240.
|
Of marginal utility if we have to check the custom-rotation vector. Killing it. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.