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ekf2: update message lost error messages to perf counters

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- only allocate these perf counters if data source is present
This commit is contained in:
Daniel Agar
2021-06-08 20:12:17 -04:00
parent 841914462d
commit 251f1a069b
2 changed files with 204 additions and 159 deletions
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src/modules/ekf2/EKF2.hpp
+9 -2
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@@ -176,8 +176,15 @@ private:
perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")};
perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")};
perf_counter_t _imu_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
perf_counter_t _mag_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": mag message missed")};
perf_counter_t _msg_missed_imu_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
perf_counter_t _msg_missed_air_data_perf{nullptr};
perf_counter_t _msg_missed_airspeed_perf{nullptr};
perf_counter_t _msg_missed_distance_sensor_perf{nullptr};
perf_counter_t _msg_missed_gps_perf{nullptr};
perf_counter_t _msg_missed_landing_target_pose_perf{nullptr};
perf_counter_t _msg_missed_magnetometer_perf{nullptr};
perf_counter_t _msg_missed_odometry_perf{nullptr};
perf_counter_t _msg_missed_optical_flow_perf{nullptr};
// Used to check, save and use learned magnetometer biases
hrt_abstime _mag_cal_last_us{0}; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)