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Restored performance counter functionality, ROS package used own source file for function definitions but per_counter.h stays the same

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This commit is contained in:
Roman Bapst
2014-09-24 10:29:28 +02:00
parent 77c823d3cd
commit 2b8a9b6325
6 changed files with 17 additions and 22 deletions
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src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+4 -4
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@@ -67,20 +67,20 @@ ECL_RollController::ECL_RollController() :
_rate_error(0.0f),
_rate_setpoint(0.0f),
_bodyrate_setpoint(0.0f),
//_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input"))
_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")),
{
}
ECL_RollController::~ECL_RollController()
{
//perf_free(_nonfinite_input_perf);
perf_free(_nonfinite_input_perf);
}
float ECL_RollController::control_attitude(float roll_setpoint, float roll)
{
/* Do not calculate control signal with bad inputs */
if (!(isfinite(roll_setpoint) && isfinite(roll))) {
//perf_count(_nonfinite_input_perf);
perf_count(_nonfinite_input_perf);
return _rate_setpoint;
}
@@ -108,7 +108,7 @@ float ECL_RollController::control_bodyrate(float pitch,
if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
isfinite(airspeed_min) && isfinite(airspeed_max) &&
isfinite(scaler))) {
//perf_count(_nonfinite_input_perf);
perf_count(_nonfinite_input_perf);
return math::constrain(_last_output, -1.0f, 1.0f);
}