From 0b6ff0de10932092a262f35d17ea2af3e5df01f1 Mon Sep 17 00:00:00 2001
From: Martin Budden <mjbudden@gmail.com>
Date: Thu, 15 Dec 2016 15:04:47 +0000
Subject: [PATCH] Minor performance optimisations

---
 src/main/fc/mw.c               | 10 ++++++----
 src/main/scheduler/scheduler.c |  7 ++++---
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/main/fc/mw.c b/src/main/fc/mw.c
index 69776a30cb..0364878aa3 100644
--- a/src/main/fc/mw.c
+++ b/src/main/fc/mw.c
@@ -290,7 +290,7 @@ void updateRcCommands(void)
                 tmp = 0;
             }
             rcCommand[axis] = tmp;
-        } else if (axis == YAW) {
+        } else {
             if (tmp > rcControlsConfig()->yaw_deadband) {
                 tmp -= rcControlsConfig()->yaw_deadband;
             } else {
@@ -778,9 +778,11 @@ void subTaskMotorUpdate(void)
 
 #ifdef USE_SERVOS
     // motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.
-    servoTable();
-    filterServos();
-    writeServos();
+    if (isMixerUsingServos()) {
+        servoTable();
+        filterServos();
+        writeServos();
+    }
 #endif
 
     if (motorControlEnable) {
diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index 623b8aed14..12c6419521 100755
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -176,9 +176,10 @@ void setTaskEnabled(cfTaskId_e taskId, bool enabled)
 
 uint32_t getTaskDeltaTime(cfTaskId_e taskId)
 {
-    if (taskId == TASK_SELF || taskId < TASK_COUNT) {
-        cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
-        return task->taskLatestDeltaTime;
+    if (taskId == TASK_SELF) {
+        return currentTask->taskLatestDeltaTime;
+    } else if (taskId < TASK_COUNT) {
+        return cfTasks[taskId].taskLatestDeltaTime;
     } else {
         return 0;
     }