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AP_NavEKF2: Add monitoring of average EKF time step

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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
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4
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -769,6 +769,8 @@ void NavEKF2_core::updateTimingStatistics(void)
if (timing.count == 0) { if (timing.count == 0) {
timing.dtIMUavg_max = dtIMUavg; timing.dtIMUavg_max = dtIMUavg;
timing.dtIMUavg_min = dtIMUavg; timing.dtIMUavg_min = dtIMUavg;
timing.dtEKFavg_max = dtEkfAvg;
timing.dtEKFavg_min = dtEkfAvg;
timing.delAngDT_max = imuDataDelayed.delAngDT; timing.delAngDT_max = imuDataDelayed.delAngDT;
timing.delAngDT_min = imuDataDelayed.delAngDT; timing.delAngDT_min = imuDataDelayed.delAngDT;
timing.delVelDT_max = imuDataDelayed.delVelDT; timing.delVelDT_max = imuDataDelayed.delVelDT;
@ -776,6 +778,8 @@ void NavEKF2_core::updateTimingStatistics(void)
} else { } else {
timing.dtIMUavg_max = MAX(timing.dtIMUavg_max, dtIMUavg); timing.dtIMUavg_max = MAX(timing.dtIMUavg_max, dtIMUavg);
timing.dtIMUavg_min = MIN(timing.dtIMUavg_min, 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_max = MAX(timing.delAngDT_max, imuDataDelayed.delAngDT);
timing.delAngDT_min = MIN(timing.delAngDT_min, imuDataDelayed.delAngDT); timing.delAngDT_min = MIN(timing.delAngDT_min, imuDataDelayed.delAngDT);
timing.delVelDT_max = MAX(timing.delVelDT_max, imuDataDelayed.delVelDT); timing.delVelDT_max = MAX(timing.delVelDT_max, imuDataDelayed.delVelDT);