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

AP_NavEKF2: Add monitoring of average EKF time step

This commit is contained in:
priseborough 2017-04-28 17:14:22 +10:00 committed by Andrew Tridgell
parent 7d777485d8
commit e48f46c98b
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
View File

@ -769,6 +769,8 @@ void NavEKF2_core::updateTimingStatistics(void)
if (timing.count == 0) {
timing.dtIMUavg_max = dtIMUavg;
timing.dtIMUavg_min = dtIMUavg;
timing.dtEKFavg_max = dtEkfAvg;
timing.dtEKFavg_min = dtEkfAvg;
timing.delAngDT_max = imuDataDelayed.delAngDT;
timing.delAngDT_min = imuDataDelayed.delAngDT;
timing.delVelDT_max = imuDataDelayed.delVelDT;
@ -776,6 +778,8 @@ void NavEKF2_core::updateTimingStatistics(void)
} else {
timing.dtIMUavg_max = MAX(timing.dtIMUavg_max, dtIMUavg);
timing.dtIMUavg_min = MIN(timing.dtIMUavg_min, dtIMUavg);
timing.dtEKFavg_max = MAX(timing.dtEKFavg_max, dtEkfAvg);
timing.dtEKFavg_min = MIN(timing.dtEKFavg_min, dtEkfAvg);
timing.delAngDT_max = MAX(timing.delAngDT_max, imuDataDelayed.delAngDT);
timing.delAngDT_min = MIN(timing.delAngDT_min, imuDataDelayed.delAngDT);
timing.delVelDT_max = MAX(timing.delVelDT_max, imuDataDelayed.delVelDT);