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Code Issues Wiki Activity

Minor performance optimisations

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This commit is contained in:
Martin Budden 2016-12-15 15:04:47 +00:00
parent 013312f90f
commit 0b6ff0de10
2 changed files with 10 additions and 7 deletions
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10
src/main/fc/mw.c
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@ -290,7 +290,7 @@ void updateRcCommands(void)
tmp = 0; tmp = 0;
} }
rcCommand[axis] = tmp; rcCommand[axis] = tmp;
} else if (axis == YAW) { } else {
if (tmp > rcControlsConfig()->yaw_deadband) { if (tmp > rcControlsConfig()->yaw_deadband) {
tmp -= rcControlsConfig()->yaw_deadband; tmp -= rcControlsConfig()->yaw_deadband;
} else { } else {
@ -778,9 +778,11 @@ void subTaskMotorUpdate(void)
#ifdef USE_SERVOS #ifdef USE_SERVOS
// motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos. // motor outputs are used as sources for servo mixing, so motors must be calculated using mixTable() before servos.
servoTable(); if (isMixerUsingServos()) {
filterServos(); servoTable();
writeServos(); filterServos();
writeServos();
}
#endif #endif
if (motorControlEnable) { if (motorControlEnable) {

7
src/main/scheduler/scheduler.c
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@ -176,9 +176,10 @@ void setTaskEnabled(cfTaskId_e taskId, bool enabled)
uint32_t getTaskDeltaTime(cfTaskId_e taskId) uint32_t getTaskDeltaTime(cfTaskId_e taskId)
{ {
if (taskId == TASK_SELF || taskId < TASK_COUNT) { if (taskId == TASK_SELF) {
cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId]; return currentTask->taskLatestDeltaTime;
return task->taskLatestDeltaTime; } else if (taskId < TASK_COUNT) {
return cfTasks[taskId].taskLatestDeltaTime;
} else { } else {
return 0; return 0;
} }