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Merge in benchmark changes

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This commit is contained in:
Joel Fuster 2015-01-03 15:01:47 -05:00
commit fc218ebebc
1 changed files with 7 additions and 0 deletions
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7
src/main/flight/mixer.c
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@ -53,6 +53,9 @@
#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];
@ -734,6 +737,8 @@ 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
@ -742,5 +747,7 @@ 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);
} }