From 73c0905b5e06ab609a40c087d347f31a2dbf81f2 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Sat, 10 Feb 2018 09:38:17 +1100
Subject: [PATCH] AP_Scheduler: pass log-performance-bit at init time rather
 than update time

---
 libraries/AP_Scheduler/AP_Scheduler.cpp | 9 ++++++---
 libraries/AP_Scheduler/AP_Scheduler.h   | 7 +++++--
 2 files changed, 11 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index 51ca2b2f3c..99c6421186 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -74,7 +74,7 @@ AP_Scheduler::AP_Scheduler(scheduler_fastloop_fn_t fastloop_fn) :
 }
 
 // initialise the scheduler
-void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
+void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
 {
     _tasks = tasks;
     _num_tasks = num_tasks;
@@ -86,6 +86,8 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
     perf_info.set_loop_rate(get_loop_rate_hz());
     perf_info.reset();
     loop_start = AP_HAL::micros();
+
+    _log_performance_bit = log_performance_bit;
 }
 
 // one tick has passed
@@ -242,12 +244,13 @@ void AP_Scheduler::loop()
     perf_info.check_loop_time(AP_HAL::micros() - loop_start);
 }
 
-void AP_Scheduler::update_logging(const bool log_to_dataflash)
+void AP_Scheduler::update_logging()
 {
     if (debug_flags()) {
         perf_info.update_logging();
     }
-    if (log_to_dataflash) {
+    if (_log_performance_bit != (uint32_t)-1 &&
+        DataFlash_Class::instance()->should_log(_log_performance_bit)) {
         Log_Write_Performance();
     }
     perf_info.set_loop_rate(get_loop_rate_hz());
diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index 4a5db1b43e..6d9dffddc4 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -72,14 +72,14 @@ public:
     };
 
     // initialise scheduler
-    void init(const Task *tasks, uint8_t num_tasks);
+    void init(const Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit);
 
     // called by vehicle's main loop - which should be the only thing
     // that function does
     void loop();
 
     // call to update any logging the scheduler might do; call at 1Hz
-    void update_logging(bool log_to_dataflash);
+    void update_logging();
 
     // write out PERF message to dataflash
     void Log_Write_Performance();
@@ -188,4 +188,7 @@ private:
 
     // performance counters
     AP_HAL::Util::perf_counter_t *_perf_counters;
+
+    // bitmask bit which indicates if we should log PERF message to dataflash
+    uint32_t _log_performance_bit;
 };