fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-12 04:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

chore: consolidate four hrt_absolute_time calls

Browse Source
This commit is contained in:
Balduin
2026-01-21 11:17:05 +01:00
parent 5635d639fe
commit dca9e6e96b
1 changed files with 9 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/standard.cpp
+9 -4
View File
@@ -291,25 +291,27 @@ void Standard::update_fw_state()
*/
void Standard::fill_actuator_outputs()
{
_torque_setpoint_0->timestamp = hrt_absolute_time();
const hrt_abstime now = hrt_absolute_time();
_torque_setpoint_0->timestamp = now;
_torque_setpoint_0->timestamp_sample = _vehicle_torque_setpoint_virtual_mc->timestamp_sample;
_torque_setpoint_0->xyz[0] = 0.f;
_torque_setpoint_0->xyz[1] = 0.f;
_torque_setpoint_0->xyz[2] = 0.f;
_torque_setpoint_1->timestamp = hrt_absolute_time();
_torque_setpoint_1->timestamp = now;
_torque_setpoint_1->timestamp_sample = _vehicle_torque_setpoint_virtual_fw->timestamp_sample;
_torque_setpoint_1->xyz[0] = 0.f;
_torque_setpoint_1->xyz[1] = 0.f;
_torque_setpoint_1->xyz[2] = 0.f;
_thrust_setpoint_0->timestamp = hrt_absolute_time();
_thrust_setpoint_0->timestamp = now;
_thrust_setpoint_0->timestamp_sample = _vehicle_thrust_setpoint_virtual_mc->timestamp_sample;
_thrust_setpoint_0->xyz[0] = 0.f;
_thrust_setpoint_0->xyz[1] = 0.f;
_thrust_setpoint_0->xyz[2] = 0.f;
_thrust_setpoint_1->timestamp = hrt_absolute_time();
_thrust_setpoint_1->timestamp = now;
_thrust_setpoint_1->timestamp_sample = _vehicle_thrust_setpoint_virtual_fw->timestamp_sample;
_thrust_setpoint_1->xyz[0] = 0.f;
_thrust_setpoint_1->xyz[1] = 0.f;
@@ -358,6 +360,9 @@ void Standard::fill_actuator_outputs()
_torque_setpoint_1->xyz[1] = _vehicle_torque_setpoint_virtual_fw->xyz[1];
_torque_setpoint_1->xyz[2] = _vehicle_torque_setpoint_virtual_fw->xyz[2];
_thrust_setpoint_0->xyz[0] = _vehicle_thrust_setpoint_virtual_fw->xyz[0];
break;
}
}