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ACM : Log Timing

This commit is contained in:
Jason Short 2012-08-27 21:12:23 -07:00
parent e2b8817a89
commit 98cc65862d
1 changed files with 8 additions and 1 deletions
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9
ArduCopter/ArduCopter.pde
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@ -985,7 +985,9 @@ void loop()
// We want this to execute fast
// ----------------------------
if ((timer - fast_loopTimer) >= 10000 && imu.new_data_available()) {
//Log_Write_Data(13, (int32_t)(timer - fast_loopTimer));
#if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(50, (int32_t)(timer - fast_loopTimer));
#endif
//PORTK |= B00010000;
G_Dt = (float)(timer - fast_loopTimer) / 1000000.f; // used by PI Loops
@ -1004,6 +1006,11 @@ void loop()
//PORTK &= B11101111;
if ((timer - fiftyhz_loopTimer) >= 20000) {
#if DEBUG_MED_LOOP == ENABLED
Log_Write_Data(51, (int32_t)(timer - fiftyhz_loopTimer));
#endif
// store the micros for the 50 hz timer
fiftyhz_loopTimer = timer;