From b6c1352e4c77fee779d51898f5274830daa92e56 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 20 Oct 2015 08:31:46 +1100 Subject: [PATCH] AP_NavEKF2: added 10 test perf counters used for fine grained performance tuning --- libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 10 ++++++++++ libraries/AP_NavEKF2/AP_NavEKF2_core.h | 1 + 2 files changed, 11 insertions(+) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp index bc533a7429..210d6eaa55 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp @@ -53,6 +53,16 @@ NavEKF2_core::NavEKF2_core(NavEKF2 &_frontend, const AP_AHRS *ahrs, AP_Baro &bar _perf_FuseOptFlow(perf_alloc(PC_ELAPSED, "EK2_FuseOptFlow")) #endif { + _perf_test[0] = perf_alloc(PC_ELAPSED, "EK2_Test0"); + _perf_test[1] = perf_alloc(PC_ELAPSED, "EK2_Test1"); + _perf_test[2] = perf_alloc(PC_ELAPSED, "EK2_Test2"); + _perf_test[3] = perf_alloc(PC_ELAPSED, "EK2_Test3"); + _perf_test[4] = perf_alloc(PC_ELAPSED, "EK2_Test4"); + _perf_test[5] = perf_alloc(PC_ELAPSED, "EK2_Test5"); + _perf_test[6] = perf_alloc(PC_ELAPSED, "EK2_Test6"); + _perf_test[7] = perf_alloc(PC_ELAPSED, "EK2_Test7"); + _perf_test[8] = perf_alloc(PC_ELAPSED, "EK2_Test8"); + _perf_test[9] = perf_alloc(PC_ELAPSED, "EK2_Test9"); } /******************************************************** diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h index 691b434455..bb2ad6fe23 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h +++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h @@ -921,6 +921,7 @@ private: perf_counter_t _perf_FuseSideslip; perf_counter_t _perf_TerrainOffset; perf_counter_t _perf_FuseOptFlow; + perf_counter_t _perf_test[10]; #endif // should we assume zero sideslip?