Restored performance counter functionality, ROS package used own source file for function definitions but per_counter.h stays the same

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;
 
 };