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Copter: perf info ignores slow loop due to arming

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This commit is contained in:
Randy Mackay 2015-02-09 23:07:18 +09:00
parent 82df53ed80
commit 4ff75f0371
2 changed files with 17 additions and 0 deletions
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3
ArduCopter/motors.pde
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@ -199,6 +199,9 @@ static bool init_arm_motors(bool arming_from_gcs)
// reenable failsafe
failsafe_enable();
// perf monitor ignores delay due to arming
perf_ignore_this_loop();
// flag exiting this function
in_arm_motors = false;

14
ArduCopter/perf_info.pde
View File

@ -14,6 +14,7 @@
uint16_t perf_info_loop_count;
uint32_t perf_info_max_time;
uint16_t perf_info_long_running;
bool perf_ignore_loop = false;
// perf_info_reset - reset all records of loop time to zero
void perf_info_reset()
@ -23,10 +24,23 @@ void perf_info_reset()
perf_info_long_running = 0;
}
// perf_ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
void perf_ignore_this_loop()
{
perf_ignore_loop = true;
}
// perf_info_check_loop_time - check latest loop time vs min, max and overtime threshold
void perf_info_check_loop_time(uint32_t time_in_micros)
{
perf_info_loop_count++;
// exit if this loop should be ignored
if (perf_ignore_loop) {
perf_ignore_loop = false;
return;
}
if( time_in_micros > perf_info_max_time) {
perf_info_max_time = time_in_micros;
}