From d019fa181d0ace79555fe254a84854a063a85ac4 Mon Sep 17 00:00:00 2001
From: Joel Fuster <j@fuster.org>
Date: Sat, 3 Jan 2015 13:10:05 -0500
Subject: [PATCH] time filter execution

---
 src/main/flight/mixer.c | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 9ffd32f71a..7561250aa0 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -44,11 +44,15 @@
 
 #include "lowpass_table.h"
 
+
 #define GIMBAL_SERVO_PITCH 0
 #define GIMBAL_SERVO_ROLL 1
 
 #define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
 
+#include "drivers/system.h"
+extern int16_t debug[4];
+
 static uint8_t motorCount = 0;
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@@ -708,6 +712,8 @@ void filterServos(void)
 {
     int16_t servoIdx;
 
+    uint32_t startTime = micros();
+
     if (mixerConfig->servo_lowpass_enable) {
         for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
             // Round to nearest
@@ -716,5 +722,7 @@ void filterServos(void)
             servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
         }
     }
+
+    debug[0] = (int16_t)(micros() - startTime);
 }