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time filter execution
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1 changed files with 8 additions and 0 deletions
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@ -44,11 +44,15 @@
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#include "lowpass_table.h"
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#define GIMBAL_SERVO_PITCH 0
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#define GIMBAL_SERVO_ROLL 1
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#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
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#include "drivers/system.h"
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extern int16_t debug[4];
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static uint8_t motorCount = 0;
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int16_t motor[MAX_SUPPORTED_MOTORS];
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int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
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@ -708,6 +712,8 @@ void filterServos(void)
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{
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int16_t servoIdx;
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uint32_t startTime = micros();
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if (mixerConfig->servo_lowpass_enable) {
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for (servoIdx = 0; servoIdx < MAX_SUPPORTED_SERVOS; servoIdx++) {
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// Round to nearest
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@ -716,5 +722,7 @@ void filterServos(void)
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servo[servoIdx] = constrain(servo[servoIdx], servoConf[servoIdx].min, servoConf[servoIdx].max);
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}
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}
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debug[0] = (int16_t)(micros() - startTime);
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}
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