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fw pos ctl: make loop performance counter more meaningful

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Thomas Gubler
2014-12-17 21:13:13 +01:00
parent 1faab673b2
commit 262b9fc754
1 changed files with 2 additions and 4 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -4
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@@ -1399,8 +1399,6 @@ FixedwingPositionControl::task_main()
continue; continue;
} }
perf_begin(_loop_perf);
/* check vehicle control mode for changes to publication state */ /* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll(); vehicle_control_mode_poll();
@@ -1419,6 +1417,7 @@ FixedwingPositionControl::task_main()
/* only run controller if position changed */ /* only run controller if position changed */
if (fds[1].revents & POLLIN) { if (fds[1].revents & POLLIN) {
perf_begin(_loop_perf);
/* XXX Hack to get mavlink output going */ /* XXX Hack to get mavlink output going */
if (_mavlink_fd < 0) { if (_mavlink_fd < 0) {
@@ -1473,10 +1472,9 @@ FixedwingPositionControl::task_main()
} }
} }
perf_end(_loop_perf);
} }
perf_end(_loop_perf);
} }
_task_running = false; _task_running = false;