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mc attitude controller: Log the controller latency

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This commit is contained in:
Lorenz Meier
2015-01-07 17:15:42 +01:00
parent 2bff39d562
commit 7682160713
1 changed files with 4 additions and 1 deletions
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5
src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -141,6 +141,7 @@ private:
struct vehicle_status_s _vehicle_status; /**< vehicle status */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _controller_latency_perf;
math::Vector<3> _rates_prev; /**< angular rates on previous step */
math::Vector<3> _rates_sp; /**< angular rates setpoint */
@@ -289,7 +290,8 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
_actuators_0_circuit_breaker_enabled(false),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control"))
_loop_perf(perf_alloc(PC_ELAPSED, "mc_att_control")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency"))
{
memset(&_v_att, 0, sizeof(_v_att));
@@ -890,6 +892,7 @@ MulticopterAttitudeControl::task_main()
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {
orb_publish(_actuators_id, _actuators_0_pub, &_actuators);
perf_end(_controller_latency_perf);
} else if (_actuators_id) {
_actuators_0_pub = orb_advertise(_actuators_id, &_actuators);