optimize control_state_t members

BossHobby · Nov 26, 2022 · ff223c7 · ff223c7
1 parent f7a3736
commit ff223c7
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/src/flight/control.h b/src/flight/control.h
@@ -46,11 +46,11 @@ typedef struct {
   uint32_t looptime_us; // looptime in us
   float uptime;         // running sum of looptimes
   float armtime;        // running sum of looptimes (while armed)
-  float cpu_load;       // micros we have had left last loop
+  uint32_t cpu_load;    // micros we have had left last loop
 
   uint32_t failsafe_time_ms; // time the last failsafe occured in ms
 
-  float lipo_cell_count;
+  uint8_t lipo_cell_count;
 
   float cpu_temp;
 
@@ -109,8 +109,8 @@ typedef struct {
   MEMBER(looptime_us, uint32)               \
   MEMBER(uptime, float)                     \
   MEMBER(armtime, float)                    \
-  MEMBER(cpu_load, float)                   \
-  MEMBER(lipo_cell_count, float)            \
+  MEMBER(cpu_load, uint32)                  \
+  MEMBER(lipo_cell_count, uint8)            \
   MEMBER(cpu_temp, float)                   \
   MEMBER(vbat, float)                       \
   MEMBER(vbat_filtered, float)              \

diff --git a/src/io/vbat.c b/src/io/vbat.c
@@ -27,12 +27,12 @@ void vbat_init() {
     for (int i = 6; i > 0; i--) {
       float cells = i;
       if (state.vbat_filtered / cells > 3.7f) {
-        state.lipo_cell_count = (float)cells;
+        state.lipo_cell_count = cells;
         break;
       }
     }
   } else {
-    state.lipo_cell_count = (float)profile.voltage.lipo_cell_count;
+    state.lipo_cell_count = profile.voltage.lipo_cell_count;
   }
 
   state.vbat_filtered_decay *= (float)state.lipo_cell_count;
@@ -50,7 +50,7 @@ void vbat_calc() {
   lpf(&state.vbat_filtered, state.vbat, 0.9968f);
   lpf(&state.vbat_filtered_decay, state.vbat_filtered, FILTERCALC(1000, 18000e3));
 
-  state.vbat_cell_avg = state.vbat_filtered_decay / state.lipo_cell_count;
+  state.vbat_cell_avg = state.vbat_filtered_decay / (float)state.lipo_cell_count;
 
   // average of all motors
   // filter motorpwm so it has the same delay as the filtered voltage
@@ -114,7 +114,7 @@ void vbat_calc() {
     hyst = 0.0f;
 
   state.vbat_compensated = tempvolt + vdrop_factor * thrfilt;
-  state.vbat_compensated_cell_avg = state.vbat_compensated / state.lipo_cell_count;
+  state.vbat_compensated_cell_avg = state.vbat_compensated / (float)state.lipo_cell_count;
 
   if ((state.vbat_compensated_cell_avg < profile.voltage.vbattlow + hyst) || (state.vbat_cell_avg < VBATTLOW_ABS))
     flags.lowbatt = 1;