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commander: ManualControl avoid unnecessary copy

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This commit is contained in:
Daniel Agar
2021-03-29 13:32:55 -04:00
committed by Beat Küng
parent 416a663d11
commit c2350c06c1
2 changed files with 2 additions and 12 deletions
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src/modules/commander/ManualControl.cpp
+2 -11
View File
@@ -47,11 +47,8 @@ bool ManualControl::update()
bool updated = false;
if (_manual_control_setpoint_sub.updated()) {
manual_control_setpoint_s manual_control_setpoint;
if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
process(manual_control_setpoint);
}
_last_manual_control_setpoint = _manual_control_setpoint;
_manual_control_setpoint_sub.copy(&_manual_control_setpoint);
updated = true;
}
@@ -63,12 +60,6 @@ bool ManualControl::update()
return updated && _rc_available;
}
void ManualControl::process(const manual_control_setpoint_s &manual_control_setpoint)
{
_last_manual_control_setpoint = _manual_control_setpoint;
_manual_control_setpoint = manual_control_setpoint;
}
bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode)
{
const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
src/modules/commander/ManualControl.hpp
-1
View File
@@ -75,7 +75,6 @@ public:
private:
void updateParams() override;
void process(const manual_control_setpoint_s &manual_control_setpoint);
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
manual_control_setpoint_s _manual_control_setpoint{};