Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 08:15:30 +03:00
Code Issues Wiki Activity

Added #define for imu debug output (+16 squashed commit)

Browse source 
Squashed local commits:

from       : e4265d4a13f63f82d5cf55eea2c091622f96660b
up to (inc): 72416dc74745fa8bae1aded79aa4b9ed0e389076
This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-07-10 15:02:38 +10:00 • committed by ProDrone
parent c6f5b98a79
commit 45a4f11f92
21 changed files with 823 additions and 188 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/mw.c
View file

@ -20,6 +20,8 @@
#include <stdint.h>
#include <math.h>
#include "debug.h"
#include "platform.h"
#include "common/maths.h"
@ -80,6 +82,8 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#define DEBUG_CYCLE_TIME
// June 2013 V2.2-dev
enum {
@ -687,6 +691,13 @@ void processRx(void)
void loop(void)
{
static uint32_t loopTime;
#ifdef DEBUG_CYCLE_TIME
static uint32_t minCycleTime = 0xffffffff;
static uint32_t maxCycleTime = 0;
static uint32_t clearTime = 0;
#endif
#if defined(BARO) || defined(SONAR)
static bool haveProcessedAnnexCodeOnce = false;
#endif
@ -732,13 +743,26 @@ void loop(void)
if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
loopTime = currentTime + masterConfig.looptime;
imuUpdate(&currentProfile->accelerometerTrims);
imuUpdate(&currentProfile->accelerometerTrims, masterConfig.acc_for_fast_looptime);
// Measure loop rate just after reading the sensors
currentTime = micros();
cycleTime = (int32_t)(currentTime - previousTime);
previousTime = currentTime;
#ifdef DEBUG_CYCLE_TIME
if (currentTime > clearTime) {
clearTime = currentTime + (uint32_t)20000000;
minCycleTime = 0xffffffff;
maxCycleTime = 0;
}
if (cycleTime < minCycleTime) minCycleTime = cycleTime;
if (cycleTime > maxCycleTime) maxCycleTime = cycleTime;
debug[0] = cycleTime;
debug[1] = minCycleTime;
debug[2] = maxCycleTime;
#endif
// Gyro Low Pass
if (currentProfile->pidProfile.gyro_cut_hz) {
int axis;