From 34c7dea08ce58fdcb56f594a08c0edf3f90b705a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 5 May 2016 20:08:43 +0200 Subject: [PATCH] EKF: Reduce perf counters --- .../ekf_att_pos_estimator_main.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 12b34daa47..e96ca53966 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -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),