AC_AttitudeControl: minor optimisation and comment fixes

libraries/AC_AttitudeControl/AC_AttitudeControl.cpp

@@ -240,8 +240,8 @@ void AC_AttitudeControl::input_quaternion(Quaternion attitude_desired_quat)
         _attitude_target_quat = attitude_desired_quat;
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
     }
 
     // Call quaternion attitude controller
@@ -264,7 +264,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f{get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()});
 
         // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
         // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@@ -291,8 +291,8 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_euler_rate_yaw(float euler
         _attitude_target_quat.from_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
     }
 
     // Call quaternion attitude controller
@@ -316,7 +316,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw_euler_rate_yaw(float e
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f{get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()});
 
         // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
         // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@@ -352,8 +352,8 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw_euler_rate_yaw(float e
         _attitude_target_quat.from_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
     }
 
     // Call quaternion attitude controller
@@ -376,7 +376,7 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f{get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()});
 
         // When acceleration limiting and feedforward are enabled, the sqrt controller is used to compute an euler
         // angular velocity that will cause the euler angle to smoothly stop at the input angle with limited deceleration
@@ -410,8 +410,8 @@ void AC_AttitudeControl::input_euler_angle_roll_pitch_yaw(float euler_roll_angle
         _attitude_target_quat.from_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
     }
 
     // Call quaternion attitude controller
@@ -431,7 +431,7 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
 
     if (_rate_bf_ff_enabled) {
         // translate the roll pitch and yaw acceleration limits to the euler axis
-        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f(get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()));
+        const Vector3f euler_accel = euler_accel_limit(_attitude_target_euler_angle, Vector3f{get_accel_roll_max_radss(), get_accel_pitch_max_radss(), get_accel_yaw_max_radss()});
 
         // When acceleration limiting is enabled, the input shaper constrains angular acceleration, slewing
         // the output rate towards the input rate.
@@ -449,8 +449,8 @@ void AC_AttitudeControl::input_euler_rate_roll_pitch_yaw(float euler_roll_rate_c
         _attitude_target_euler_angle.z = wrap_2PI(_attitude_target_euler_angle.z + euler_yaw_rate * _dt);
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
 
         // Compute quaternion target attitude
         _attitude_target_quat.from_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
@@ -489,8 +489,8 @@ void AC_AttitudeControl::input_rate_bf_roll_pitch_yaw(float roll_rate_bf_cds, fl
         _attitude_target_quat.normalize();
 
         // Set rate feedforward requests to zero
-        _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-        _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+        _attitude_target_euler_rate.zero();
+        _attitude_target_ang_vel.zero();
     }
 
     // Call quaternion attitude controller
@@ -592,8 +592,8 @@ void AC_AttitudeControl::input_angle_step_bf_roll_pitch_yaw(float roll_angle_ste
     _attitude_target_quat.to_euler(_attitude_target_euler_angle.x, _attitude_target_euler_angle.y, _attitude_target_euler_angle.z);
 
     // Set rate feedforward requests to zero
-    _attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f);
-    _attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f);
+    _attitude_target_euler_rate.zero();
+    _attitude_target_ang_vel.zero();
 
     // Call quaternion attitude controller
     attitude_controller_run_quat();