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GCS_MAVLink: tweak timings debug messages

This commit is contained in:
Peter Barker 2019-08-21 08:19:23 +10:00 committed by Peter Barker
parent d88e12b206
commit 052e721622
2 changed files with 14 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
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@ -678,6 +678,7 @@ private:
uint32_t no_space_for_message;
uint16_t statustext_last_sent_ms;
uint32_t behind;
uint32_t out_of_time;
uint16_t fnbts_maxtime;
uint32_t max_retry_deferred_body_us;
uint8_t max_retry_deferred_body_type;

13
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -981,6 +981,9 @@ int8_t GCS_MAVLINK::deferred_message_to_send_index()
if (ms_since_last_sent > interval_ms) {
// should already have sent this one!
ms_before_send_this_message = 0;
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
try_send_message_stats.behind++;
#endif
} else {
ms_before_send_this_message = interval_ms - ms_since_last_sent;
}
@ -1023,6 +1026,9 @@ void GCS_MAVLINK::update_send()
const uint32_t start = AP_HAL::millis();
while (AP_HAL::millis() - start < 5) { // spend a max of 5ms sending messages. This should never trigger - out_of_time() should become true
if (gcs().out_of_time()) {
#if GCS_DEBUG_SEND_MESSAGE_TIMINGS
try_send_message_stats.out_of_time++;
#endif
break;
}
@ -1391,6 +1397,13 @@ GCS_MAVLINK::update_receive(uint32_t max_time_us)
try_send_message_stats.no_space_for_message);
try_send_message_stats.no_space_for_message = 0;
}
if (try_send_message_stats.out_of_time) {
gcs().send_text(MAV_SEVERITY_INFO,
"GCS.chan(%u): out-of-time=%u",
chan,
try_send_message_stats.out_of_time);
try_send_message_stats.out_of_time = 0;
}
if (max_slowdown_ms) {
gcs().send_text(MAV_SEVERITY_INFO,
"GCS.chan(%u): max slowdown=%u",