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AP_InertialSensor: quieten imu's on esp32 

less noisy

ins debug

imu
This commit is contained in:
David Buzz 2023-05-02 09:28:32 +10:00 committed by Peter Barker
parent 46bc6d5122
commit a896ab9e71
2 changed files with 20 additions and 0 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -40,9 +40,19 @@ extern const AP_HAL::HAL& hal;
#endif
#endif
#ifdef INS_TIMING_DEBUG
#include <stdio.h>
#define timing_printf(fmt, args...) do { printf("[timing] " fmt, ##args); } while(0)
#else
#define timing_printf(fmt, args...)
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// hal.console can be accessed from bus threads on ChibiOS
#define debug(fmt, args ...) do {hal.console->printf("MPU: " fmt "\n", ## args); } while(0)
#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
// esp32 commonly has timing issues
#define debug(fmt, args ...) do {timing_printf("MPU: " fmt "\n", ## args); } while(0)
#else
#define debug(fmt, args ...) do {printf("MPU: " fmt "\n", ## args); } while(0)
#endif

10
libraries/AP_InertialSensor/AP_InertialSensor_Invensensev2.cpp
View File

@ -27,9 +27,19 @@
extern const AP_HAL::HAL& hal;
#ifdef INS_TIMING_DEBUG
#include <stdio.h>
#define timing_printf(fmt, args...) do { printf("[timing] " fmt, ##args); } while(0)
#else
#define timing_printf(fmt, args...)
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
// hal.console can be accessed from bus threads on ChibiOS
#define debug(fmt, args ...) do {hal.console->printf("INV2: " fmt "\n", ## args); } while(0)
#elif CONFIG_HAL_BOARD == HAL_BOARD_ESP32
// esp32 commonly has timing issues
#define debug(fmt, args ...) do {timing_printf("INV2: " fmt "\n", ## args); } while(0)
#else
#define debug(fmt, args ...) do {printf("INV2: " fmt "\n", ## args); } while(0)
#endif