fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-01 03:04:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

Removing extra UAVCAN perfcounters

Browse Source
This commit is contained in:
Pavel Kirienko 2015-01-21 10:39:14 +03:00 committed by Lorenz Meier
parent 4b8feb03cf
commit ae0e2d7209
4 changed files with 0 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
src/modules/uavcan/actuators/esc.cpp
View File

@ -56,17 +56,12 @@ UavcanEscController::UavcanEscController(uavcan::INode &node) :
if (_perfcnt_scaling_error == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_scaling_error");
}
if (_perfcnt_broadcast_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_broadcast_elapsed");
}
}
UavcanEscController::~UavcanEscController()
{
perf_free(_perfcnt_invalid_input);
perf_free(_perfcnt_scaling_error);
perf_free(_perfcnt_broadcast_elapsed);
}
int UavcanEscController::init()
@ -141,9 +136,7 @@ void UavcanEscController::update_outputs(float *outputs, unsigned num_outputs)
* Publish the command message to the bus
* Note that for a quadrotor it takes one CAN frame
*/
perf_begin(_perfcnt_broadcast_elapsed);
(void)_uavcan_pub_raw_cmd.broadcast(msg);
perf_end(_perfcnt_broadcast_elapsed);
}
void UavcanEscController::arm_all_escs(bool arm)

1
src/modules/uavcan/actuators/esc.hpp
View File

@ -109,5 +109,4 @@ private:
*/
perf_counter_t _perfcnt_invalid_input = perf_alloc(PC_COUNT, "uavcan_esc_invalid_input");
perf_counter_t _perfcnt_scaling_error = perf_alloc(PC_COUNT, "uavcan_esc_scaling_error");
perf_counter_t _perfcnt_broadcast_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_broadcast_elapsed");
};

6
src/modules/uavcan/uavcan_main.cpp
View File

@ -93,10 +93,6 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
if (_perfcnt_esc_mixer_total_elapsed == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_total_elapsed");
}
if (_perfcnt_esc_mixer_subscriptions == nullptr) {
errx(1, "uavcan: couldn't allocate _perfcnt_esc_mixer_subscriptions");
}
}
UavcanNode::~UavcanNode()
@ -138,7 +134,6 @@ UavcanNode::~UavcanNode()
perf_free(_perfcnt_node_spin_elapsed);
perf_free(_perfcnt_esc_mixer_output_elapsed);
perf_free(_perfcnt_esc_mixer_total_elapsed);
perf_free(_perfcnt_esc_mixer_subscriptions);
}
int UavcanNode::start(uavcan::NodeID node_id, uint32_t bitrate)
@ -527,7 +522,6 @@ UavcanNode::arm_actuators(bool arm)
void
UavcanNode::subscribe()
{
perf_count(_perfcnt_esc_mixer_subscriptions);
// Subscribe/unsubscribe to required actuator control groups
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;

1
src/modules/uavcan/uavcan_main.hpp
View File

@ -146,5 +146,4 @@ private:
perf_counter_t _perfcnt_node_spin_elapsed = perf_alloc(PC_ELAPSED, "uavcan_node_spin_elapsed");
perf_counter_t _perfcnt_esc_mixer_output_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_output_elapsed");
perf_counter_t _perfcnt_esc_mixer_total_elapsed = perf_alloc(PC_ELAPSED, "uavcan_esc_mixer_total_elapsed");
perf_counter_t _perfcnt_esc_mixer_subscriptions = perf_alloc(PC_COUNT, "uavcan_esc_mixer_subscriptions");
};