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improve code efficiency

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This commit is contained in:
ctzsnooze 2019-09-22 14:06:31 +10:00
parent 891b47e11e
commit 5112b66a0f
1 changed files with 2 additions and 2 deletions
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4
src/main/flight/interpolated_setpoint.c
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@ -106,7 +106,7 @@ FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float cur
DEBUG_SET(DEBUG_FF_LIMIT, 1, value); DEBUG_SET(DEBUG_FF_LIMIT, 1, value);
} }
if (ffMaxRateLimit[axis] && (axis < FD_YAW)) { if (ffMaxRateLimit[axis]) {
if (fabsf(currentPidSetpoint) <= ffMaxRateLimit[axis]) { if (fabsf(currentPidSetpoint) <= ffMaxRateLimit[axis]) {
value = constrainf(value, (-ffMaxRateLimit[axis] - currentPidSetpoint) * Kp, (ffMaxRateLimit[axis] - currentPidSetpoint) * Kp); value = constrainf(value, (-ffMaxRateLimit[axis] - currentPidSetpoint) * Kp, (ffMaxRateLimit[axis] - currentPidSetpoint) * Kp);
} else { } else {
@ -121,7 +121,7 @@ FAST_CODE_NOINLINE float applyFfLimit(int axis, float value, float Kp, float cur
bool shouldApplyFfLimits(int axis) bool shouldApplyFfLimits(int axis)
{ {
return ffMaxRateLimit[axis] != 0.0f; return ffMaxRateLimit[axis] != 0.0f && axis < FD_YAW;
} }