fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
1 changed files with 4 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/mc_rate_control/MulticopterRateControl.cpp
View File

@ -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