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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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src/main/flight/pid.h
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@ -121,6 +121,7 @@ union rollAndPitchTrims_u;
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim, timeUs_t currentTimeUs);
extern float axisPID_P[3], axisPID_I[3], axisPID_D[3];
extern float axisPIDSum[3];
bool airmodeWasActivated;
extern uint32_t targetPidLooptime;