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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
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8
Tools/autotest/pysim/sim_quad.py
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@ -150,7 +150,7 @@ print("Starting at lat=%f lon=%f alt=%.1f heading=%.1f" % (
a.yaw)) a.yaw))
frame_time = 1.0/opts.rate frame_time = 1.0/opts.rate
sleep_overhead = 0
while True: while True:
frame_start = time.time() frame_start = time.time()
@ -171,4 +171,8 @@ while True:
frame_count = 0 frame_count = 0
frame_end = time.time() frame_end = time.time()
if frame_end - frame_start < frame_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)