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Little optimisation PID.c

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Hi,
I know, it's not a huge optimisation but I just switched the condition of the IF condition (line 425). Given that the YAW axis occur one time in the FOR loop (line 366), the IF(axis == YAW) condition will be called one time whereas the IF(axis != YAW) condition will be called two times.

Check first the most used condition in an IF condition is a good thing to do in a code source.

I just don't know if it will be a major improvement, I let you judge.
This commit is contained in:
Gamma-Software 2016-08-22 16:33:23 +02:00 • committed by GitHub
parent 2f14f61190
commit 0f1b00520f
1 changed files with 14 additions and 14 deletions
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28
src/main/flight/pid.c
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@ -422,20 +422,7 @@ static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclina
ITerm = errorGyroI[axis] >> 13; ITerm = errorGyroI[axis] >> 13;
//-----calculate D-term //-----calculate D-term
if (axis == YAW) { if (axis != YAW) {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = PTerm + ITerm;
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
DTerm = 0; // needed for blackbox
} else {
if (pidProfile->deltaMethod == DELTA_FROM_ERROR) { if (pidProfile->deltaMethod == DELTA_FROM_ERROR) {
delta = RateError - lastRateError[axis]; delta = RateError - lastRateError[axis];
lastRateError[axis] = RateError; lastRateError[axis] = RateError;
@ -464,6 +451,19 @@ static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclina
// -----calculate total PID output // -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm; axisPID[axis] = PTerm + ITerm + DTerm;
} else {
if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
axisPID[axis] = PTerm + ITerm;
if (motorCount >= 4) {
int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
// prevent "yaw jump" during yaw correction
axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
}
DTerm = 0; // needed for blackbox
} }
if (!pidStabilisationEnabled) axisPID[axis] = 0; if (!pidStabilisationEnabled) axisPID[axis] = 0;