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SITL: log achieved speedup rate

This commit is contained in:
Peter Barker 2023-09-21 11:23:11 +10:00 committed by Peter Barker
parent 224c1ee2a9
commit 34bceb8eec
2 changed files with 8 additions and 5 deletions
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12
libraries/SITL/SIM_Aircraft.cpp
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@ -298,9 +298,9 @@ void Aircraft::sync_frame_time(void)
uint32_t now_ms = last_wall_time_us / 1000ULL;
float dt_wall = (now_ms - last_fps_report_ms) * 0.001;
if (dt_wall > 2.0) {
if (dt_wall > 0.01) { // 0.01s average
achieved_rate_hz = (frame_counter - last_frame_count) / dt_wall;
#if 0
const float achieved_rate_hz = (frame_counter - last_frame_count) / dt_wall;
::printf("Rate: target:%.1f achieved:%.1f speedup %.1f/%.1f\n",
rate_hz*target_speedup, achieved_rate_hz,
achieved_rate_hz/rate_hz, target_speedup);
@ -471,14 +471,16 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
// @Field: VE: Velocity east
// @Field: VD: Velocity down
// @Field: As: Airspeed
// @Field: ASpdU: Achieved simulation speedup value
Vector3d pos = get_position_relhome();
Vector3f vel = get_velocity_ef();
AP::logger().WriteStreaming("SIM2", "TimeUS,PN,PE,PD,VN,VE,VD,As",
"Qdddffff",
AP::logger().WriteStreaming("SIM2", "TimeUS,PN,PE,PD,VN,VE,VD,As,ASpdU",
"Qdddfffff",
AP_HAL::micros64(),
pos.x, pos.y, pos.z,
vel.x, vel.y, vel.z,
airspeed_pitot);
airspeed_pitot,
achieved_rate_hz/rate_hz);
}
}

1
libraries/SITL/SIM_Aircraft.h
View File

@ -225,6 +225,7 @@ protected:
uint64_t frame_time_us;
uint64_t last_wall_time_us;
uint32_t last_fps_report_ms;
float achieved_rate_hz; // achieved speedup rate
int64_t sleep_debt_us;
uint32_t last_frame_count;
uint8_t instance;