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SITL: added SIM_LOOP_DELAY parameter

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this allows us to test high CPU load conditions by adding a delay to
each loop
This commit is contained in:
Andrew Tridgell 2019-09-17 18:10:06 +10:00
parent 95bca05322
commit 3d9f393f4b
2 changed files with 4 additions and 0 deletions
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3
libraries/SITL/SITL.cpp
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@ -186,6 +186,9 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("OPOS_ALT", 53, SITL, opos.alt, 584.0f),
AP_GROUPINFO("OPOS_HDG", 54, SITL, opos.hdg, 353.0f),
// extra delay per main loop
AP_GROUPINFO("LOOP_DELAY", 55, SITL, loop_delay, 0),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
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@ -176,6 +176,7 @@ public:
AP_Float flow_noise; // optical flow measurement noise (rad/sec)
AP_Int8 baro_count; // number of simulated baros to create
AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence
AP_Int32 loop_delay; // extra delay to add to every loop
// wind control
enum WindType {