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https://github.com/PX4/PX4-Autopilot.git
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ff4c0d7e4d
Add an on-target microbenchmark for LatLonAlt::Wgs84::gravity(), the Somigliana latitude-dependent gravity used by EKF2 (APX4-4273), to bound its CPU cost on the flight controller. Measured ~0.45 us/call on fmu-v6s (STM32H7). The value is cached and only recomputed when latitude moves >1 deg, so the steady-state EKF cost is unchanged. Enabled on the fmu-v6s performance-test board. Run with: nsh> microbench microbench_gravity APX4-4273
31 lines
920 B
Plaintext
31 lines
920 B
Plaintext
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
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CONFIG_BOARD_ARCHITECTURE="cortex-m7"
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CONFIG_BOARD_ETHERNET=y
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CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS5"
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CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
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CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
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CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
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CONFIG_BOARD_ROMFSROOT="performance-test"
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CONFIG_DRIVERS_ADC_BOARD_ADC=y
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CONFIG_SYSTEMCMDS_DMESG=y
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CONFIG_SYSTEMCMDS_GPIO=y
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CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
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CONFIG_SYSTEMCMDS_I2CDETECT=y
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CONFIG_SYSTEMCMDS_LED_CONTROL=y
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CONFIG_SYSTEMCMDS_MFT=y
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CONFIG_SYSTEMCMDS_MTD=y
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CONFIG_SYSTEMCMDS_MFT_CFG=y
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CONFIG_SYSTEMCMDS_MICROBENCH=y
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CONFIG_SYSTEMCMDS_PARAM=y
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CONFIG_SYSTEMCMDS_PERF=y
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CONFIG_SYSTEMCMDS_REBOOT=y
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CONFIG_SYSTEMCMDS_SD_BENCH=y
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CONFIG_SYSTEMCMDS_SD_STRESS=y
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CONFIG_SYSTEMCMDS_SERIAL_TEST=y
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CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
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CONFIG_SYSTEMCMDS_TOP=y
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CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
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CONFIG_SYSTEMCMDS_UORB=y
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CONFIG_SYSTEMCMDS_VER=y
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CONFIG_SYSTEMCMDS_WORK_QUEUE=y
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