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Plane: move logging of PM and PERF messages to AP_Scheduler

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This commit is contained in:
Peter Barker 2017-11-16 14:33:12 +11:00 committed by Andrew Tridgell
parent 55c27dfc56
commit 8cae776448
3 changed files with 1 additions and 49 deletions
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18
ArduPlane/ArduPlane.cpp
View File

@ -338,23 +338,7 @@ void Plane::one_second_loop()
void Plane::log_perf_info() void Plane::log_perf_info()
{ {
if (scheduler.debug() != 0) { scheduler.update_logging(should_log(MASK_LOG_PM));
gcs().send_text(MAV_SEVERITY_INFO,
"PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu Log=%u",
(unsigned)scheduler.perf_info.get_num_long_running(),
(unsigned)scheduler.perf_info.get_num_loops(),
(unsigned long)scheduler.perf_info.get_max_time(),
(unsigned long)scheduler.perf_info.get_min_time(),
(unsigned long)scheduler.perf_info.get_avg_time(),
(unsigned long)scheduler.perf_info.get_stddev_time(),
(unsigned)(DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped()));
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
scheduler.perf_info.reset();
} }
void Plane::compass_save() void Plane::compass_save()

31
ArduPlane/Log.cpp
View File

@ -54,35 +54,6 @@ void Plane::Log_Write_Fast(void)
} }
struct PACKED log_Performance {
LOG_PACKET_HEADER;
uint64_t time_us;
uint16_t num_long;
uint16_t main_loop_count;
uint32_t g_dt_max;
uint32_t g_dt_min;
uint32_t log_dropped;
uint32_t mem_avail;
};
// Write a performance monitoring packet. Total length : 19 bytes
void Plane::Log_Write_Performance()
{
uint32_t dropped = DataFlash.num_dropped();
struct log_Performance pkt = {
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
num_long : scheduler.perf_info.get_num_long_running(),
main_loop_count : scheduler.perf_info.get_num_loops(),
g_dt_max : scheduler.perf_info.get_max_time(),
g_dt_min : scheduler.perf_info.get_min_time(),
log_dropped : DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped(),
hal.util->available_memory()
};
last_log_dropped = dropped;
DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
}
struct PACKED log_Startup { struct PACKED log_Startup {
LOG_PACKET_HEADER; LOG_PACKET_HEADER;
uint64_t time_us; uint64_t time_us;
@ -364,8 +335,6 @@ void Plane::Log_Write_Home_And_Origin()
// units and "Format characters" for field type information // units and "Format characters" for field type information
const struct LogStructure Plane::log_structure[] = { const struct LogStructure Plane::log_structure[] = {
LOG_COMMON_STRUCTURES, LOG_COMMON_STRUCTURES,
{ LOG_PERFORMANCE_MSG, sizeof(log_Performance),
"PM", "QHHIIII", "TimeUS,NLon,NLoop,MaxT,MinT,LogDrop,Mem", "ss----b", "FC----0" },
{ LOG_STARTUP_MSG, sizeof(log_Startup), { LOG_STARTUP_MSG, sizeof(log_Startup),
"STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" }, "STRT", "QBH", "TimeUS,SType,CTot", "s--", "F--" },
{ LOG_CTUN_MSG, sizeof(log_Control_Tuning), { LOG_CTUN_MSG, sizeof(log_Control_Tuning),

1
ArduPlane/defines.h
View File

@ -121,7 +121,6 @@ typedef enum GeofenceEnableReason {
enum log_messages { enum log_messages {
LOG_CTUN_MSG, LOG_CTUN_MSG,
LOG_NTUN_MSG, LOG_NTUN_MSG,
LOG_PERFORMANCE_MSG,
LOG_STARTUP_MSG, LOG_STARTUP_MSG,
TYPE_AIRSTART_MSG, TYPE_AIRSTART_MSG,
TYPE_GROUNDSTART_MSG, TYPE_GROUNDSTART_MSG,