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AP_NavEKF3: Add monitoring of average EKF time step

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priseborough 2017-04-28 17:14:34 +10:00 committed by Andrew Tridgell
parent e48f46c98b
commit 0bf50fd56f
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -799,6 +799,8 @@ void NavEKF3_core::updateTimingStatistics(void)
if (timing.count == 0) {
timing.dtIMUavg_max = dtIMUavg;
timing.dtIMUavg_min = dtIMUavg;
timing.dtEKFavg_max = dtEkfAvg;
timing.dtEKFavg_min = dtEkfAvg;
timing.delAngDT_max = imuDataDelayed.delAngDT;
timing.delAngDT_min = imuDataDelayed.delAngDT;
timing.delVelDT_max = imuDataDelayed.delVelDT;
@ -806,6 +808,8 @@ void NavEKF3_core::updateTimingStatistics(void)
} else {
timing.dtIMUavg_max = MAX(timing.dtIMUavg_max, dtIMUavg);
timing.dtIMUavg_min = MIN(timing.dtIMUavg_min, dtIMUavg);
timing.dtEKFavg_max = MAX(timing.dtEKFavg_max, dtEkfAvg);
timing.dtEKFavg_min = MIN(timing.dtEKFavg_min, dtEkfAvg);
timing.delAngDT_max = MAX(timing.delAngDT_max, imuDataDelayed.delAngDT);
timing.delAngDT_min = MIN(timing.delAngDT_min, imuDataDelayed.delAngDT);
timing.delVelDT_max = MAX(timing.delVelDT_max, imuDataDelayed.delVelDT);