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Copter: mavlink PERF messages also spit out average and standard deviation

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This commit is contained in:
Peter Barker 2015-11-04 16:42:05 +11:00 committed by Francisco Ferreira
parent 46c982d64f
commit 30fac9160e
3 changed files with 24 additions and 2 deletions
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6
ArduCopter/ArduCopter.cpp
View File

@ -191,11 +191,13 @@ void Copter::perf_update(void)
if (should_log(MASK_LOG_PM))
Log_Write_Performance();
if (scheduler.debug()) {
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u %lu %lu",
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu",
(unsigned)perf_info_get_num_long_running(),
(unsigned)perf_info_get_num_loops(),
(unsigned long)perf_info_get_max_time(),
(unsigned long)perf_info_get_min_time());
(unsigned long)perf_info_get_min_time(),
(unsigned long)perf_info_get_avg_time(),
(unsigned long)perf_info_get_stddev_time());
}
perf_info_reset();
pmTest1 = 0;

2
ArduCopter/Copter.h
View File

@ -1019,6 +1019,8 @@ private:
uint32_t perf_info_get_min_time();
uint16_t perf_info_get_num_long_running();
uint32_t perf_info_get_num_dropped();
uint32_t perf_info_get_avg_time();
uint32_t perf_info_get_stddev_time();
Vector3f pv_location_to_vector(const Location& loc);
float pv_alt_above_origin(float alt_above_home_cm);
float pv_alt_above_home(float alt_above_origin_cm);

18
ArduCopter/perf_info.cpp
View File

@ -12,6 +12,8 @@
static uint16_t perf_info_loop_count;
static uint32_t perf_info_max_time; // in microseconds
static uint32_t perf_info_min_time; // in microseconds
static uint64_t perf_info_sigma_time;
static uint64_t perf_info_sigmasquared_time;
static uint16_t perf_info_long_running;
static uint32_t perf_info_log_dropped;
static bool perf_ignore_loop = false;
@ -24,6 +26,8 @@ void Copter::perf_info_reset()
perf_info_min_time = 0;
perf_info_long_running = 0;
perf_info_log_dropped = DataFlash.num_dropped();
perf_info_sigma_time = 0;
perf_info_sigmasquared_time = 0;
}
// perf_ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
@ -52,6 +56,8 @@ void Copter::perf_info_check_loop_time(uint32_t time_in_micros)
if( time_in_micros > PERF_INFO_OVERTIME_THRESHOLD_MICROS ) {
perf_info_long_running++;
}
perf_info_sigma_time += time_in_micros;
perf_info_sigmasquared_time += time_in_micros * time_in_micros;
}
// perf_info_get_long_running_percentage - get number of long running loops as a percentage of the total number of loops
@ -83,3 +89,15 @@ uint32_t Copter::perf_info_get_num_dropped()
{
return perf_info_log_dropped;
}
// perf_info_get_avg_time - return average loop time (in microseconds)
uint32_t Copter::perf_info_get_avg_time()
{
return (perf_info_sigma_time / perf_info_loop_count);
}
// perf_info_get_stddev_time - return stddev of average loop time (in us)
uint32_t Copter::perf_info_get_stddev_time()
{
return sqrt((perf_info_sigmasquared_time - (perf_info_sigma_time*perf_info_sigma_time)/perf_info_loop_count) / perf_info_loop_count);
}