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fix(mc_rate_control): remove redundant uORB copy in rate setpoint path (#26755)

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Subscription::update() already copies data into the destination buffer,
making the subsequent copy() call redundant. This eliminates an
unnecessary memcpy every cycle on the 400 Hz rate control loop.
This commit is contained in:
Jacob Dahl
2026-03-15 11:43:23 -08:00
committed by GitHub
parent 9535559025
commit 71e673bec2
1 changed files with 4 additions and 6 deletions
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src/modules/mc_rate_control/MulticopterRateControl.cpp
+4 -6
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@@ -179,12 +179,10 @@ MulticopterRateControl::Run()
}
} else if (_vehicle_rates_setpoint_sub.update(&vehicle_rates_setpoint)) {
if (_vehicle_rates_setpoint_sub.copy(&vehicle_rates_setpoint)) {
_rates_setpoint(0) = PX4_ISFINITE(vehicle_rates_setpoint.roll) ? vehicle_rates_setpoint.roll : rates(0);
_rates_setpoint(1) = PX4_ISFINITE(vehicle_rates_setpoint.pitch) ? vehicle_rates_setpoint.pitch : rates(1);
_rates_setpoint(2) = PX4_ISFINITE(vehicle_rates_setpoint.yaw) ? vehicle_rates_setpoint.yaw : rates(2);
_thrust_setpoint = Vector3f(vehicle_rates_setpoint.thrust_body);
}
_rates_setpoint(0) = PX4_ISFINITE(vehicle_rates_setpoint.roll) ? vehicle_rates_setpoint.roll : rates(0);
_rates_setpoint(1) = PX4_ISFINITE(vehicle_rates_setpoint.pitch) ? vehicle_rates_setpoint.pitch : rates(1);
_rates_setpoint(2) = PX4_ISFINITE(vehicle_rates_setpoint.yaw) ? vehicle_rates_setpoint.yaw : rates(2);
_thrust_setpoint = Vector3f(vehicle_rates_setpoint.thrust_body);
}
// run the rate controller