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author | Roman Bapst <romanbapst@yahoo.de> | 2014-09-24 10:29:28 +0200 |
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committer | Roman Bapst <romanbapst@yahoo.de> | 2014-09-24 10:29:28 +0200 |
commit | 2b8a9b632555708731d93f4aa7945d19e83d3134 (patch) | |
tree | a595e0861ad1288eb1bfa7c26d5f3c684c5ef103 | |
parent | 77c823d3cd0f49014a33632ec9ef3efdd7d3dfa5 (diff) | |
download | px4-firmware-2b8a9b632555708731d93f4aa7945d19e83d3134.tar.gz px4-firmware-2b8a9b632555708731d93f4aa7945d19e83d3134.tar.bz2 px4-firmware-2b8a9b632555708731d93f4aa7945d19e83d3134.zip |
Restored performance counter functionality, ROS package used own source file for function definitions but per_counter.h stays the same
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 6 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.h | 5 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 8 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.h | 6 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 8 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.h | 6 |
6 files changed, 17 insertions, 22 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index b840206d5..8ee8b9c68 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -69,13 +69,13 @@ ECL_PitchController::ECL_PitchController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f) - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input")) { } ECL_PitchController::~ECL_PitchController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed) @@ -145,7 +145,7 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h index 973e15d98..39b9f9d03 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h @@ -51,9 +51,8 @@ #include <stdbool.h> #include <stdint.h> -#ifdef CONFIG_ARM_ARCH #include <systemlib/perf_counter.h> -#endif + class __EXPORT ECL_PitchController //XXX: create controller superclass { public: @@ -130,7 +129,7 @@ private: float _rate_error; float _rate_setpoint; float _bodyrate_setpoint; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; }; #endif // ECL_PITCH_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 1b9925f63..6707a11ba 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -67,20 +67,20 @@ ECL_RollController::ECL_RollController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")), { } ECL_RollController::~ECL_RollController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_RollController::control_attitude(float roll_setpoint, float roll) { /* Do not calculate control signal with bad inputs */ if (!(isfinite(roll_setpoint) && isfinite(roll))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return _rate_setpoint; } @@ -108,7 +108,7 @@ float ECL_RollController::control_bodyrate(float pitch, if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.h b/src/lib/ecl/attitude_fw/ecl_roll_controller.h index 84e6e9fe4..dbcabd847 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h @@ -51,10 +51,8 @@ #include <stdbool.h> #include <stdint.h> - -#ifdef CONIG_ARCH_ARM #include <systemlib/perf_counter.h> -#endif + class __EXPORT ECL_RollController //XXX: create controller superclass { @@ -123,7 +121,7 @@ private: float _rate_error; float _rate_setpoint; float _bodyrate_setpoint; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; }; #endif // ECL_ROLL_CONTROLLER_H diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 5b023fa8f..7ff864175 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -66,13 +66,13 @@ ECL_YawController::ECL_YawController() : _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), _coordinated_min_speed(1.0f), - //_nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) { } ECL_YawController::~ECL_YawController() { - //perf_free(_nonfinite_input_perf); + perf_free(_nonfinite_input_perf); } float ECL_YawController::control_attitude(float roll, float pitch, @@ -83,7 +83,7 @@ float ECL_YawController::control_attitude(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(speed_body_u) && isfinite(speed_body_v) && isfinite(speed_body_w) && isfinite(roll_rate_setpoint) && isfinite(pitch_rate_setpoint))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return _rate_setpoint; } // static int counter = 0; @@ -127,7 +127,7 @@ float ECL_YawController::control_bodyrate(float roll, float pitch, if (!(isfinite(roll) && isfinite(pitch) && isfinite(pitch_rate) && isfinite(yaw_rate) && isfinite(pitch_rate_setpoint) && isfinite(airspeed_min) && isfinite(airspeed_max) && isfinite(scaler))) { - //perf_count(_nonfinite_input_perf); + perf_count(_nonfinite_input_perf); return math::constrain(_last_output, -1.0f, 1.0f); } /* get the usual dt estimate */ diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h index 61657e95b..c9e80930f 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h @@ -50,10 +50,8 @@ #include <stdbool.h> #include <stdint.h> - -#ifdef CONFIG_ARCH_ARM #include <systemlib/perf_counter.h> -#endif + class __EXPORT ECL_YawController //XXX: create controller superclass { @@ -124,7 +122,7 @@ private: float _rate_setpoint; float _bodyrate_setpoint; float _coordinated_min_speed; - //perf_counter_t _nonfinite_input_perf; + perf_counter_t _nonfinite_input_perf; }; |