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time filter execution

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This commit is contained in:
Joel Fuster 2015-01-03 13:10:05 -05:00
parent 654c614380
commit d019fa181d
1 changed files with 8 additions and 0 deletions
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8
src/main/flight/mixer.c
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@ -44,11 +44,15 @@
#include "lowpass_table.h" #include "lowpass_table.h"
#define GIMBAL_SERVO_PITCH 0 #define GIMBAL_SERVO_PITCH 0
#define GIMBAL_SERVO_ROLL 1 #define GIMBAL_SERVO_ROLL 1
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4 #define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
#include "drivers/system.h"
extern int16_t debug[4];
static uint8_t motorCount = 0; static uint8_t motorCount = 0;
int16_t motor[MAX_SUPPORTED_MOTORS]; int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS]; int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
@ -708,6 +712,8 @@ void filterServos(void)
{ {
int16_t servoIdx; int16_t servoIdx;
uint32_t startTime = micros();
if (mixerConfig->servo_lowpass_enable) { if (mixerConfig->servo_lowpass_enable) {
for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) { for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
// Round to nearest // Round to nearest
@ -716,5 +722,7 @@ void filterServos(void)
servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max); servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
} }
} }
debug[0] = (int16_t)(micros() - startTime);
} }