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Rover: fixed PM message

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Andrew Tridgell 2013-11-02 10:40:29 +11:00 committed by Randy Mackay
parent 8775593402
commit 36b52b65e1
4 changed files with 3 additions and 11 deletions
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6
APMrover2/APMrover2.pde
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@ -526,10 +526,6 @@ static int32_t perf_mon_timer;
static uint32_t G_Dt_max;
// The number of gps fixes recorded in the current performance monitoring interval
static uint8_t gps_fix_count = 0;
// A variable used by developers to track performanc metrics.
// Currently used to record the number of GCS heartbeat messages received
static int16_t pmTest1 = 0;
////////////////////////////////////////////////////////////////////////////////
// System Timers
@ -768,9 +764,9 @@ static void one_second_loop(void)
if (scheduler.debug() != 0) {
hal.console->printf_P(PSTR("G_Dt_max=%lu\n"), (unsigned long)G_Dt_max);
}
G_Dt_max = 0;
if (g.log_bitmask & MASK_LOG_PM)
Log_Write_Performance();
G_Dt_max = 0;
resetPerfData();
}

1
APMrover2/GCS_Mavlink.pde
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@ -1755,7 +1755,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if(msg->sysid != g.sysid_my_gcs) break;
last_heartbeat_ms = failsafe.rc_override_timer = millis();
failsafe_trigger(FAILSAFE_EVENT_GCS, false);
pmTest1++;
break;
}

6
APMrover2/Log.pde
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@ -165,14 +165,13 @@ struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint32_t loop_time;
uint16_t main_loop_count;
int32_t g_dt_max;
uint32_t g_dt_max;
uint8_t renorm_count;
uint8_t renorm_blowup;
uint8_t gps_fix_count;
int16_t gyro_drift_x;
int16_t gyro_drift_y;
int16_t gyro_drift_z;
int16_t pm_test;
uint8_t i2c_lockup_count;
};
@ -190,7 +189,6 @@ static void Log_Write_Performance()
gyro_drift_x : (int16_t)(ahrs.get_gyro_drift().x * 1000),
gyro_drift_y : (int16_t)(ahrs.get_gyro_drift().y * 1000),
gyro_drift_z : (int16_t)(ahrs.get_gyro_drift().z * 1000),
pm_test : pmTest1,
i2c_lockup_count: hal.i2c->lockup_count()
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
@ -456,7 +454,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
{ LOG_ATTITUDE_MSG, sizeof(log_Attitude),
"ATT", "ccC", "Roll,Pitch,Yaw" },
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "IHIBBBhhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,PMT,I2CErr" },
"PM", "IHIBBBhhhB", "LTime,MLC,gDt,RNCnt,RNBl,GPScnt,GDx,GDy,GDz,I2CErr" },
{ LOG_CMD_MSG, sizeof(log_Cmd),
"CMD", "BBBBBeLL", "CTot,CNum,CId,COpt,Prm1,Alt,Lat,Lng" },
{ LOG_CAMERA_MSG, sizeof(log_Camera),

1
APMrover2/system.pde
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@ -370,7 +370,6 @@ static void resetPerfData(void) {
ahrs.renorm_range_count = 0;
ahrs.renorm_blowup_count = 0;
gps_fix_count = 0;
pmTest1 = 0;
perf_mon_timer = millis();
}