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Code Issues Wiki Activity

Minor performance update

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2021-05-17 11:47:37 +02:00
parent 7795514259
commit 500c6ab923
22 changed files with 52 additions and 44 deletions
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4
src/main/navigation/navigation_fixedwing.c
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@ -249,7 +249,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
float posErrorX = posControl.desiredState.pos.x - navGetCurrentActualPositionAndVelocity()->pos.x;
float posErrorY = posControl.desiredState.pos.y - navGetCurrentActualPositionAndVelocity()->pos.y;
float distanceToActualTarget = sqrtf(sq(posErrorX) + sq(posErrorY));
float distanceToActualTarget = fast_fsqrtf(sq(posErrorX) + sq(posErrorY));
// Limit minimum forward velocity to 1 m/s
float trackingDistance = trackingPeriod * MAX(posControl.actualState.velXY, 100.0f);
@ -272,7 +272,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
// We have temporary loiter target. Recalculate distance and position error
posErrorX = loiterTargetX - navGetCurrentActualPositionAndVelocity()->pos.x;
posErrorY = loiterTargetY - navGetCurrentActualPositionAndVelocity()->pos.y;
distanceToActualTarget = sqrtf(sq(posErrorX) + sq(posErrorY));
distanceToActualTarget = fast_fsqrtf(sq(posErrorX) + sq(posErrorY));
}
// Calculate virtual waypoint