fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Attitude fw: Remove builtin perf counters

Browse Source
This commit is contained in:
Lorenz Meier
2016-05-05 20:06:01 +02:00
parent 22d18d638c
commit 199c423f1f
8 changed files with 6 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
attitude_fw/ecl_wheel_controller.cpp
+1 -3
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -62,7 +62,6 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
if (!(PX4_ISFINITE(ctl_data.yaw_rate) &&
PX4_ISFINITE(ctl_data.groundspeed) &&
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}
@@ -124,7 +123,6 @@ float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_da
/* Do not calculate control signal with bad inputs */
if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
PX4_ISFINITE(ctl_data.yaw))) {
perf_count(_nonfinite_input_perf);
return _rate_setpoint;
}