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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/vtol_att_control/standard.cpp
+4 -2
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@@ -398,7 +398,8 @@ void Standard::update_fw_state()
void Standard::fill_actuator_outputs()
{
// multirotor controls
_actuators_out_0->timestamp = _actuators_mc_in->timestamp;
_actuators_out_0->timestamp = hrt_absolute_time();
_actuators_out_0->timestamp_sample = _actuators_mc_in->timestamp_sample;
// roll
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] =
@@ -415,7 +416,8 @@ void Standard::fill_actuator_outputs()
// fixed wing controls
_actuators_out_1->timestamp = _actuators_fw_in->timestamp;
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
if (_vtol_schedule.flight_mode != MC_MODE) {
// roll