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AP_NavEKF2: use common header for optimisation level and irq disable

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This commit is contained in:
Andrew Tridgell 2015-10-20 08:28:55 +11:00
parent a017ae7e00
commit d1dfd5fd01
11 changed files with 12 additions and 55 deletions
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5
libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

5
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

7
libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -150,11 +145,9 @@ void NavEKF2_core::SelectMagFusion()
}
// fuse the three magnetometer componenents sequentially
for (mag_state.obsIndex = 0; mag_state.obsIndex <= 2; mag_state.obsIndex++) {
irqstate_t istate = irqsave();
perf_begin(_perf_test[0]);
FuseMagnetometer();
perf_end(_perf_test[0]);
irqrestore(istate);
}
}
}

6
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -3,12 +3,6 @@
#include <AP_HAL/AP_HAL.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

5
libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

5
libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

5
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

5
libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>

11
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
@ -351,6 +346,9 @@ void NavEKF2_core::UpdateFilter()
}
// start the timer used for load measurement
#if EK2_DISABLE_INTERRUPTS
irqstate_t istate = irqsave();
#endif
perf_begin(_perf_UpdateFilter);
// TODO - in-flight restart method
@ -404,6 +402,9 @@ void NavEKF2_core::UpdateFilter()
// stop the timer used for load measurement
perf_end(_perf_UpdateFilter);
#if EK2_DISABLE_INTERRUPTS
irqrestore(istate);
#endif
}
/*

8
libraries/AP_NavEKF2/AP_NavEKF2_core.h
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@ -21,10 +21,14 @@
#ifndef AP_NavEKF2_core
#define AP_NavEKF2_core
#include <AP_Math/AP_Math.h>
#include "AP_NavEKF2.h"
#pragma GCC optimize("O3")
// #define MATH_CHECK_INDEXES 1
// #define EK2_DISABLE_INTERRUPTS 1
#include <AP_Math/AP_Math.h>
#include "AP_NavEKF2.h"
#include <AP_Math/vectorN.h>

5
libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
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@ -4,11 +4,6 @@
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
/*
optionally turn down optimisation for debugging
*/
// #pragma GCC optimize("O0")
#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>