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Optimze pidSum calculation by storing the value rather than recalculating in multiple places.

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Saves 72 bytes. Will save at least that additionally when incorporated into Runaway Takeoff Prevention (which also calculates the pidSum in two places).

Additionally adds a slight performance improvement by not repeating the floating point additions to calculate the pidSum in multiple places.  Effectively replaces 2 calculations with 1 (4 with 1 with Runaway Takeoff Prevention).
This commit is contained in:
Bruce Luckcuck 2018-01-30 09:58:41 -05:00
parent 6efe34d4da
commit fba0b2cea3
4 changed files with 12 additions and 7 deletions
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6
src/main/flight/mixer.c
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@ -694,11 +694,11 @@ void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation)
// Calculate and Limit the PIDsum
const float scaledAxisPidRoll =
constrainf(axisPID_P[FD_ROLL] + axisPID_I[FD_ROLL] + axisPID_D[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
constrainf(axisPIDSum[FD_ROLL], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
const float scaledAxisPidPitch =
constrainf(axisPID_P[FD_PITCH] + axisPID_I[FD_PITCH] + axisPID_D[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
constrainf(axisPIDSum[FD_PITCH], -currentPidProfile->pidSumLimit, currentPidProfile->pidSumLimit) / PID_MIXER_SCALING;
float scaledAxisPidYaw =
constrainf(axisPID_P[FD_YAW] + axisPID_I[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
constrainf(axisPIDSum[FD_YAW], -currentPidProfile->pidSumLimitYaw, currentPidProfile->pidSumLimitYaw) / PID_MIXER_SCALING;
if (!mixerConfig()->yaw_motors_reversed) {
scaledAxisPidYaw = -scaledAxisPidYaw;
}