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Added debug IMU speed output

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This commit is contained in:
ProDrone 2015-09-22 16:32:12 +02:00
parent 242409a443
commit 57fc0f0a57
2 changed files with 48 additions and 1 deletions
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10
src/main/sensors/acceleration.c
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@ -19,11 +19,13 @@
#include <stdint.h>
#include "platform.h"
#include "debug.h"
#include "common/axis.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/system.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"
@ -34,6 +36,8 @@
#include "sensors/acceleration.h"
#define DEBUG_IMU_SPEED
int16_t accADC[XYZ_AXIS_COUNT];
acc_t acc; // acc access functions
@ -171,9 +175,15 @@ void applyAccelerationTrims(flightDynamicsTrims_t *accelerationTrims)
void updateAccelerationReadings(rollAndPitchTrims_t *rollAndPitchTrims)
{
#ifdef DEBUG_IMU_SPEED
uint32_t time = micros();
#endif
if (!acc.read(accADC)) {
return;
}
#ifdef DEBUG_IMU_SPEED
debug[1] = micros() - time;
#endif
alignSensors(accADC, accADC, accAlign);
if (!isAccelerationCalibrationComplete()) {