fw att: add performance counter

6 files changed, 36 insertions, 0 deletions

diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
index a3f5199b1..0a909d02f 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
@@ -63,12 +63,19 @@ ECL_PitchController::ECL_PitchController() :
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control pitch nonfinite input");
+}
+
+ECL_PitchController::~ECL_PitchController()
+{
+	perf_free(_nonfinite_input_perf);
 }
 
 float ECL_PitchController::control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed)
 {
 	/* Do not calculate control signal with bad inputs */
 	if (!(isfinite(pitch_setpoint) && isfinite(roll) && isfinite(pitch) && isfinite(airspeed))) {
+		perf_count(_nonfinite_input_perf);
 		warnx("not controlling pitch");
 		return _rate_setpoint;
 	}
@@ -131,6 +138,7 @@ 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);
 		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 30a82a86a..39b9f9d03 100644
--- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_PitchController //XXX: create controller superclass
 {
 public:
 	ECL_PitchController();
 
+	~ECL_PitchController();
+
 	float control_attitude(float pitch_setpoint, float roll, float pitch, float airspeed);
 
 
@@ -126,6 +129,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	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 6ad00049d..82903ef5a 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
@@ -61,12 +61,19 @@ ECL_RollController::ECL_RollController() :
 	_rate_setpoint(0.0f),
 	_bodyrate_setpoint(0.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control roll nonfinite input");
+}
+
+ECL_RollController::~ECL_RollController()
+{
+	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);
 		return _rate_setpoint;
 	}
 
@@ -94,6 +101,7 @@ 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);
 		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 92c64b95f..0799dbe03 100644
--- a/src/lib/ecl/attitude_fw/ecl_roll_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.h
@@ -51,12 +51,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_RollController //XXX: create controller superclass
 {
 public:
 	ECL_RollController();
 
+	~ECL_RollController();
+
 	float control_attitude(float roll_setpoint, float roll);
 
 	float control_bodyrate(float pitch,
@@ -117,6 +120,7 @@ private:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
+	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 d43e0314e..e53ffc644 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
@@ -60,6 +60,12 @@ ECL_YawController::ECL_YawController() :
 	_bodyrate_setpoint(0.0f),
 	_coordinated_min_speed(1.0f)
 {
+	perf_alloc(PC_COUNT, "fw att control yaw nonfinite input");
+}
+
+ECL_YawController::~ECL_YawController()
+{
+	perf_free(_nonfinite_input_perf);
 }
 
 float ECL_YawController::control_attitude(float roll, float pitch,
@@ -70,6 +76,7 @@ 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);
 		return _rate_setpoint;
 	}
 //	static int counter = 0;
@@ -113,6 +120,7 @@ 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);
 		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 03f3202d0..a360c14b8 100644
--- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
+++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.h
@@ -50,12 +50,15 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <systemlib/perf_counter.h>
 
 class __EXPORT ECL_YawController //XXX: create controller superclass
 {
 public:
 	ECL_YawController();
 
+	~ECL_YawController();
+
 	float control_attitude(float roll, float pitch,
 			float speed_body_u, float speed_body_v, float speed_body_w,
 			float roll_rate_setpoint, float pitch_rate_setpoint);
@@ -118,6 +121,7 @@ private:
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
 	float _coordinated_min_speed;
+	perf_counter_t _nonfinite_input_perf;
 
 };