Use vel.xy().length() instead of norm(vel.x,vel.y)
#18647
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| @@ -674,10 +674,10 @@ void Mode::land_run_horizontal_control() | |||
| // there is any position estimate drift after touchdown. We | |||
| // limit attitude to 7 degrees below this limit and linearly | |||
| // interpolate for 1m above that | |||
| float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(), | |||
| const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(), | |||
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Unrelated change. But a good one anyway.
| @@ -1427,7 +1427,7 @@ void NavEKF3_core::alignMagStateDeclination() | |||
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| // rotate the NE values so that the declination matches the published value | |||
| Vector3F initMagNED = stateStruct.earth_magfield; | |||
| ftype magLengthNE = norm(initMagNED.x,initMagNED.y); | |||
| ftype magLengthNE = initMagNED.xy().length(); | |||
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I guess there's no difference between norm and length() even for ftype?
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I will plead a little ignorance here. I was surprised by the savings.
For this specific case initMagNED it is an fytpe so there is no difference.
From what I can see in debugger and via inspection, T length(void) calls ftype norm(void) each function of so there is output type narrowing that is possible if the inputs are floats and ftype -> is double?
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I've reviewed the changes and it looks ok to me. It would be very laborious to test each line that is changed so perhaps we just rely on inspection. I've added one question above about making sure that length and norm work fine for ftype. |
This was 100% inspection and autotest only as it touches so many very specific test cases. |
This should be a non functional change.
I noticed the computation of
norm(vel.x,vel.y)costs about 34--60 bytes each time it is used more than the equivalentvel.xy().length()Multiply that by a bunch of times and you get back 1.2KB for Copter & 1KB for Plane and slightly less code.