Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: estimate the cost of sleeping for more accurate frame rate 

this gets us quite close to 1kHz simulation
This commit is contained in:
Andrew Tridgell 2011-12-03 07:38:51 +11:00
parent 1192e2f11c
commit 9b3ce4a96a
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Tools/autotest/pysim/sim_quad.py
View File

@ -150,7 +150,7 @@ print("Starting at lat=%f lon=%f alt=%.1f heading=%.1f" % (
a.yaw))
frame_time = 1.0/opts.rate
sleep_overhead = 0
while True:
frame_start = time.time()
@ -171,4 +171,8 @@ while True:
frame_count = 0
frame_end = time.time()
if frame_end - frame_start < frame_time:
time.sleep(frame_time - (frame_end - frame_start))
dt = frame_time - (frame_end - frame_start)
dt -= sleep_overhead
if dt > 0:
time.sleep(dt)
sleep_overhead = 0.99*sleep_overhead + 0.01*(time.time() - frame_end)