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Plane: improved perf monitoring with SCHED_DEBUG

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This commit is contained in:
Andrew Tridgell 2013-10-28 17:10:00 +11:00
parent 580e7b8a4a
commit 3ff407cb75
1 changed files with 8 additions and 4 deletions
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12
ArduPlane/ArduPlane.pde
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@ -774,6 +774,9 @@ void loop()
G_Dt = delta_us_fast_loop * 1.0e-6f;
fast_loopTimer_us = timer;
if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop;
mainLoop_count++;
// tell the scheduler one tick has passed
@ -794,9 +797,6 @@ void loop()
// update AHRS system
static void ahrs_update()
{
if (delta_us_fast_loop > G_Dt_max)
G_Dt_max = delta_us_fast_loop;
#if HIL_MODE != HIL_MODE_DISABLED
// update hil before AHRS update
gcs_update();
@ -950,7 +950,11 @@ static void one_second_loop()
static uint8_t counter;
counter++;
if (counter == 20) {
if (counter % 10 == 0) {
if (scheduler.debug() != 0) {
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
}
G_Dt_max = 0;
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
resetPerfData();