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Remove unnecessary re-calculations

This commit is contained in:
borisbstyle 2016-02-10 09:48:13 +01:00
parent 83d8a8441c
commit 3f261970c5
1 changed files with 4 additions and 1 deletions
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5
src/main/flight/mixer.c
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@ -752,6 +752,7 @@ STATIC_UNIT_TESTED void servoMixer(void)
void mixTable(void)
{
uint32_t i;
float vbatCompensationFactor;
bool isFailsafeActive = failsafeIsActive(); // TODO - Find out if failsafe checks are really needed here in mixer code
@ -765,6 +766,8 @@ void mixTable(void)
int16_t rollPitchYawMixMax = 0; // assumption: symetrical about zero.
int16_t rollPitchYawMixMin = 0;
if (batteryConfig->vbatPidCompensation) vbatCompensationFactor = calculateVbatPidCompensation(); // Calculate voltage compensation
// Find roll/pitch/yaw desired output
for (i = 0; i < motorCount; i++) {
rollPitchYawMix[i] =
@ -772,7 +775,7 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] *= calculateVbatPidCompensation(); // Add voltage PID compensation
if (batteryConfig->vbatPidCompensation) rollPitchYawMix[i] *= vbatCompensationFactor; // Add voltage compensation
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];