AP_TECS: Don't fetch the land slewrate if it's not needed

Co-authored-by: WickedShell <[email protected]>
TForce1 · Jul 31, 2020 · 8ae34a1 · 8ae34a1
1 parent bbe01ad
commit 8ae34a1
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -700,10 +700,11 @@ void AP_TECS::_update_throttle_with_airspeed(void)
         // Rate limit PD + FF throttle
         // Calculate the throttle increment from the specified slew time
         int8_t throttle_slewrate = aparm.throttle_slewrate;
-        int8_t land_slewrate = _landing.get_throttle_slewrate();
-
-        if (_landing.is_on_approach() && land_slewrate >0) {
-            throttle_slewrate = land_slewrate;
+        if (_landing.is_on_approach()) {
+            const int8_t land_slewrate = _landing.get_throttle_slewrate();
+            if (land_slewrate > 0) {
+                throttle_slewrate = land_slewrate;
+            }
         }
 
         if (throttle_slewrate != 0) {