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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/tiltrotor.cpp
+6 -2
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@@ -336,7 +336,9 @@ void Tiltrotor::waiting_on_tecs()
*/
void Tiltrotor::fill_actuator_outputs()
{
_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;
_actuators_out_0->control[actuator_controls_s::INDEX_ROLL] = _actuators_mc_in->control[actuator_controls_s::INDEX_ROLL]
* _mc_roll_weight;
_actuators_out_0->control[actuator_controls_s::INDEX_PITCH] =
@@ -359,7 +361,9 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_mc_in->control[actuator_controls_s::INDEX_THROTTLE];
}
_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;
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
-_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] =