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Attitude estimator Q: Add performance counters for delay

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This commit is contained in:
Lorenz Meier
2015-11-24 14:24:18 +01:00
parent bd4497f883
commit 17caae00aa
1 changed files with 13 additions and 0 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+13
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@@ -287,6 +287,13 @@ void AttitudeEstimatorQ::task_main_trampoline(int argc, char *argv[])
void AttitudeEstimatorQ::task_main() void AttitudeEstimatorQ::task_main()
{ {
#ifdef __PX4_POSIX
perf_counter_t _perf_accel(perf_alloc_once(PC_ELAPSED, "sim_accel_delay"));
perf_counter_t _perf_mpu(perf_alloc_once(PC_ELAPSED, "sim_mpu_delay"));
perf_counter_t _perf_mag(perf_alloc_once(PC_ELAPSED, "sim_mag_delay"));
#endif
_sensors_sub = orb_subscribe(ORB_ID(sensor_combined)); _sensors_sub = orb_subscribe(ORB_ID(sensor_combined));
_vision_sub = orb_subscribe(ORB_ID(vision_position_estimate)); _vision_sub = orb_subscribe(ORB_ID(vision_position_estimate));
@@ -381,6 +388,12 @@ void AttitudeEstimatorQ::task_main()
if (!_failsafe) { if (!_failsafe) {
uint32_t flags = DataValidator::ERROR_FLAG_NO_ERROR; uint32_t flags = DataValidator::ERROR_FLAG_NO_ERROR;
#ifdef __PX4_POSIX
perf_end(_perf_accel);
perf_end(_perf_mpu);
perf_end(_perf_mag);
#endif
if (_voter_gyro.failover_count() > 0) { if (_voter_gyro.failover_count() > 0) {
_failsafe = true; _failsafe = true;
flags = _voter_gyro.failover_state(); flags = _voter_gyro.failover_state();