From e48f46c98b23b1cb539318626e04d7df08c9efee Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 28 Apr 2017 17:14:22 +1000
Subject: [PATCH] AP_NavEKF2: Add monitoring of average EKF time step

---
 libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index 06745e1a5d..be49653931 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -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);