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improve end to end control latency measurement (#9388)

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This commit is contained in:
Daniel Agar
2018-05-02 03:03:32 -04:00
committed by GitHub
parent edea1b65cd
commit 977ab4e7b8
25 changed files with 132 additions and 64 deletions
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src/modules/mc_att_control/mc_att_control.hpp
-1
View File
@@ -164,7 +164,6 @@ private:
MultirotorMixer::saturation_status _saturation_status{};
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _controller_latency_perf;
math::LowPassFilter2p _lp_filters_d[3]; /**< low-pass filters for D-term (roll, pitch & yaw) */
static constexpr const float initial_update_rate_hz = 250.f; /**< loop update rate used for initialization */
src/modules/mc_att_control/mc_att_control_main.cpp
-4
View File
@@ -100,8 +100,6 @@ To reduce control latency, the module directly polls on the gyro topic published
MulticopterAttitudeControl::MulticopterAttitudeControl() :
ModuleParams(nullptr),
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_lp_filters_d{
{initial_update_rate_hz, 50.f},
{initial_update_rate_hz, 50.f},
@@ -757,7 +755,6 @@ MulticopterAttitudeControl::run()
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);
@@ -799,7 +796,6 @@ MulticopterAttitudeControl::run()
if (_actuators_0_pub != nullptr) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);