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Code Issues Releases Activity

OP-1188 Optimize stack utilization for multipid bank selection in Stabilization module

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This commit is contained in:
Alessio Morale 2014-01-21 22:43:41 +01:00
parent e14acffd5c
commit f9ac3a3de2
1 changed files with 9 additions and 13 deletions
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22
flight/modules/Stabilization/stabilization.c
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@ -757,13 +757,17 @@ static float stab_powf(float x, uint8_t p)
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{ {
StabilizationBankData bank, oldBank;
StabilizationBankGet(&oldBank);
if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) { if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) {
return; return;
} }
if ((settings.FlightModeMap[cur_flight_mode] == 0 && ev->obj != StabilizationSettingsBank1Handle()) ||
(settings.FlightModeMap[cur_flight_mode] == 1 && ev->obj != StabilizationSettingsBank2Handle()) ||
(settings.FlightModeMap[cur_flight_mode] == 2 && ev->obj != StabilizationSettingsBank3Handle()) ||
settings.FlightModeMap[cur_flight_mode] > 2) {
return;
}
StabilizationBankData bank;
switch (settings.FlightModeMap[cur_flight_mode]) { switch (settings.FlightModeMap[cur_flight_mode]) {
case 0: case 0:
@ -777,16 +781,8 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
case 2: case 2:
StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank); StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank);
break; break;
default:
memset(&bank, 0, sizeof(StabilizationBankDataPacked));
// return; //bank number is invalid. All we can do is ignore it.
}
// Need to do this to prevent an infinite loop
if (memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0) {
StabilizationBankSet(&bank);
} }
StabilizationBankSet(&bank);
} }
static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)