diff options
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 6 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/module.mk | 2 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index e7c95cc86..948b29bcb 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -1399,8 +1399,6 @@ FixedwingPositionControl::task_main() continue; } - perf_begin(_loop_perf); - /* check vehicle control mode for changes to publication state */ vehicle_control_mode_poll(); @@ -1419,6 +1417,7 @@ FixedwingPositionControl::task_main() /* only run controller if position changed */ if (fds[1].revents & POLLIN) { + perf_begin(_loop_perf); /* XXX Hack to get mavlink output going */ if (_mavlink_fd < 0) { @@ -1473,10 +1472,9 @@ FixedwingPositionControl::task_main() } } - + perf_end(_loop_perf); } - perf_end(_loop_perf); } _task_running = false; diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index 15b575b50..440bab2c5 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -45,3 +45,5 @@ SRCS = fw_pos_control_l1_main.cpp \ mtecs/mTecs_params.c MODULE_STACKSIZE = 1200 + +MAXOPTIMIZATION = -Os |