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EKF: Reduce perf counters

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Lorenz Meier
2016-05-05 20:08:43 +02:00
parent dd774a60e3
commit 34c7dea08c
1 changed files with 12 additions and 3 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+12 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -176,14 +176,23 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_baro_gps_offset(0.0f),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "ekf_att_pos_estimator")),
_loop_perf(perf_alloc(PC_ELAPSED, "ekf_dt")),
#if 0
_loop_intvl(perf_alloc(PC_INTERVAL, "ekf_att_pos_est_interval")),
_perf_gyro(perf_alloc(PC_INTERVAL, "ekf_att_pos_gyro_upd")),
_perf_mag(perf_alloc(PC_INTERVAL, "ekf_att_pos_mag_upd")),
_perf_gps(perf_alloc(PC_INTERVAL, "ekf_att_pos_gps_upd")),
_perf_baro(perf_alloc(PC_INTERVAL, "ekf_att_pos_baro_upd")),
_perf_airspeed(perf_alloc(PC_INTERVAL, "ekf_att_pos_aspd_upd")),
_perf_reset(perf_alloc(PC_COUNT, "ekf_att_pos_reset")),
#else
_loop_intvl(nullptr),
_perf_gyro(nullptr),
_perf_mag(nullptr),
_perf_gps(nullptr),
_perf_baro(nullptr),
_perf_airspeed(nullptr),
#endif
_perf_reset(perf_alloc(PC_COUNT, "ekf_rst")),
/* states */
_gps_alt_filt(0.0f),