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AP_NavEKF2: added 10 test perf counters

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used for fine grained performance tuning
This commit is contained in:
Andrew Tridgell 2015-10-20 08:31:46 +11:00
parent 824436dfb6
commit b6c1352e4c
2 changed files with 11 additions and 0 deletions
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10
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -53,6 +53,16 @@ NavEKF2_core::NavEKF2_core(NavEKF2 &_frontend, const AP_AHRS *ahrs, AP_Baro &bar
_perf_FuseOptFlow(perf_alloc(PC_ELAPSED, "EK2_FuseOptFlow"))
#endif
{
_perf_test[0] = perf_alloc(PC_ELAPSED, "EK2_Test0");
_perf_test[1] = perf_alloc(PC_ELAPSED, "EK2_Test1");
_perf_test[2] = perf_alloc(PC_ELAPSED, "EK2_Test2");
_perf_test[3] = perf_alloc(PC_ELAPSED, "EK2_Test3");
_perf_test[4] = perf_alloc(PC_ELAPSED, "EK2_Test4");
_perf_test[5] = perf_alloc(PC_ELAPSED, "EK2_Test5");
_perf_test[6] = perf_alloc(PC_ELAPSED, "EK2_Test6");
_perf_test[7] = perf_alloc(PC_ELAPSED, "EK2_Test7");
_perf_test[8] = perf_alloc(PC_ELAPSED, "EK2_Test8");
_perf_test[9] = perf_alloc(PC_ELAPSED, "EK2_Test9");
}
/********************************************************

1
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -921,6 +921,7 @@ private:
perf_counter_t _perf_FuseSideslip;
perf_counter_t _perf_TerrainOffset;
perf_counter_t _perf_FuseOptFlow;
perf_counter_t _perf_test[10];
#endif
// should we assume zero sideslip?