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AP_Math: move zeroing to header, use memset, reuse in identity #28423

Merged
merged 1 commit into from
Nov 4, 2024
Merged

AP_Math: move zeroing to header, use memset, reuse in identity #28423

merged 1 commit into from
Nov 4, 2024

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peterbarker
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this method is in ITCM memory on STM32 - which makes small optimisations worthwhile

Board                    AP_Periph  blimp  bootloader  copter  heli  iofirmware  plane  rover  sub
CubeOrange-periph-heavy  *                                                                     
CubeRedPrimary                      -72    *           -72     -64               -72    -72    -64
Durandal                            -64    *           -64     -64               -64    -64    -64
Hitec-Airspeed           *                                                                     
KakuteH7-bdshot                     -64    *           -64     -64               -64    -64    -64
MatekF405                           -48    *           -40     -48               -40    -32    -40
Pixhawk1-1M-bdshot                  -40                -40     -48               -40    -40    -48
f103-QiotekPeriph        *                                                                     
f303-Universal           *                                                                     
iomcu                                                                *                         
revo-mini                           -40    *           -40     -40               -48    -40    -48
skyviper-v2450                                         -48

@peterbarker
AP_Math: move zeroing to header, use memset, reuse in identity
b0a7141 
this method is in ITCM memory on STM32 - which makes small optimisations worthwhile
khancyr
khancyr reviewed Oct 18, 2024
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is the improvement coming from the memset, the use of zero or just the removal of the templating ?

@peterbarker
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I assumed it was the memset - but didn't check.

IamPete1
IamPete1 approved these changes Nov 4, 2024
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LGTM

@tridge tridge merged commit dc62483 into ArduPilot:master Nov 4, 2024
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@peterbarker peterbarker deleted the pr/matrix-zero branch November 6, 2024 00:33
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@khancyr khancyr khancyr left review comments

@IamPete1 IamPete1 IamPete1 approved these changes

@tridge tridge tridge approved these changes

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5 participants
@peterbarker @khancyr @tridge @IamPete1 @CraigElder