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ekf2: split perf counters (full update or not) and reorganize Run() slightly

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Daniel Agar
2020-11-11 20:17:52 -05:00
parent a68fe4dbd7
commit 7264577eec
2 changed files with 50 additions and 47 deletions
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src/modules/ekf2/EKF2.hpp
+2 -1
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@@ -173,7 +173,8 @@ private:
uint64_t _start_time_us = 0; ///< system time at EKF start (uSec)
int64_t _last_time_slip_us = 0; ///< Last time slip (uSec)
perf_counter_t _ekf_update_perf;
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")};
// Initialise time stamps used to send sensor data to the EKF and for logging
uint8_t _invalid_mag_id_count = 0; ///< number of times an invalid magnetomer device ID has been detected