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Copter: a useful bit of timing debug code 

enable when looking at main loop timing
This commit is contained in:
Andrew Tridgell 2013-01-07 11:04:27 +11:00
parent 647b3b09b6
commit d11dde578f
1 changed files with 10 additions and 0 deletions
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10
ArduCopter/ArduCopter.pde
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@ -946,6 +946,16 @@ void loop()
// ---------------------------- // ----------------------------
if (main_loop_ready()) { if (main_loop_ready()) {
#if 0
uint16_t num_samples = ins.num_samples_available();
static uint16_t counter;
if (num_samples != 2 || (counter++ % 200 == 0)) {
cliSerial->printf_P(PSTR("num_samples=%u dt=%u\n"),
(unsigned)num_samples,
(unsigned)(timer - fast_loopTimer));
}
#endif
#if DEBUG_FAST_LOOP == ENABLED #if DEBUG_FAST_LOOP == ENABLED
Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer)); Log_Write_Data(DATA_FAST_LOOP, (int32_t)(timer - fast_loopTimer));
#endif #endif