forked from Archive/PX4-Autopilot
Attitude fw: Remove builtin perf counters
This commit is contained in:
parent
22d18d638c
commit
199c423f1f
|
@ -63,17 +63,12 @@ ECL_Controller::ECL_Controller(const char *name) :
|
|||
_integrator(0.0f),
|
||||
_rate_error(0.0f),
|
||||
_rate_setpoint(0.0f),
|
||||
_bodyrate_setpoint(0.0f),
|
||||
_perf_name()
|
||||
_bodyrate_setpoint(0.0f)
|
||||
{
|
||||
/* Init performance counter */
|
||||
snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
|
||||
_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
|
||||
}
|
||||
|
||||
ECL_Controller::~ECL_Controller()
|
||||
{
|
||||
perf_free(_nonfinite_input_perf);
|
||||
}
|
||||
|
||||
void ECL_Controller::reset_integrator()
|
||||
|
|
|
@ -118,8 +118,5 @@ protected:
|
|||
float _rate_error;
|
||||
float _rate_setpoint;
|
||||
float _bodyrate_setpoint;
|
||||
perf_counter_t _nonfinite_input_perf;
|
||||
static const uint8_t _perf_name_max = 40;
|
||||
char _perf_name[_perf_name_max];
|
||||
float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
|
||||
};
|
||||
|
|
|
@ -66,7 +66,6 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
|
|||
PX4_ISFINITE(ctl_data.roll) &&
|
||||
PX4_ISFINITE(ctl_data.pitch) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
warnx("not controlling pitch");
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
@ -102,7 +101,6 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
|
|||
PX4_ISFINITE(ctl_data.airspeed_min) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||||
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -60,7 +60,6 @@ float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_dat
|
|||
{
|
||||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.roll_setpoint) && PX4_ISFINITE(ctl_data.roll))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
|
@ -90,7 +89,6 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
|
|||
PX4_ISFINITE(ctl_data.airspeed_min) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||||
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -62,7 +62,6 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
|
|||
if (!(PX4_ISFINITE(ctl_data.yaw_rate) &&
|
||||
PX4_ISFINITE(ctl_data.groundspeed) &&
|
||||
PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
|
@ -124,7 +123,6 @@ float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_da
|
|||
/* Do not calculate control signal with bad inputs */
|
||||
if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.yaw))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||||
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||||
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
@ -108,7 +108,6 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
|
|||
PX4_ISFINITE(ctl_data.speed_body_w) &&
|
||||
PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return _rate_setpoint;
|
||||
}
|
||||
|
||||
|
@ -160,7 +159,6 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
|
|||
PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
|
||||
PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
|
||||
PX4_ISFINITE(ctl_data.scaler))) {
|
||||
perf_count(_nonfinite_input_perf);
|
||||
return math::constrain(_last_output, -1.0f, 1.0f);
|
||||
}
|
||||
|
||||
|
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
|
||||
* Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
Loading…
Reference in New Issue