From dca9e6e96b3223a78d60ca415518ac7d6250bd00 Mon Sep 17 00:00:00 2001 From: Balduin Date: Wed, 21 Jan 2026 11:17:05 +0100 Subject: [PATCH] chore: consolidate four hrt_absolute_time calls --- src/modules/vtol_att_control/standard.cpp | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index 6c5bba004e..eac79a88b1 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -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; } }