From 980fbf6cfb3b29fc0fd865698d5f077fbe4532d0 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 16 Nov 2017 14:25:53 +1100
Subject: [PATCH] Sub: move logging of PM messages to AP_Scheduler

---
 ArduSub/ArduSub.cpp     |  7 +------
 ArduSub/GCS_Mavlink.cpp |  1 -
 ArduSub/Log.cpp         | 33 ---------------------------------
 ArduSub/Sub.cpp         |  1 -
 ArduSub/Sub.h           |  3 ---
 ArduSub/defines.h       |  1 -
 6 files changed, 1 insertion(+), 45 deletions(-)

diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index 86c849e252..af99abb8db 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -94,12 +94,7 @@ void Sub::setup()
 
 void Sub::perf_update(void)
 {
-    if (should_log(MASK_LOG_PM)) {
-        Log_Write_Performance();
-    }
-    scheduler.update_logging();
-    scheduler.perf_info.reset();
-    pmTest1 = 0;
+    scheduler.update_logging(should_log(MASK_LOG_PM));
 }
 
 void Sub::loop()
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 2eab5ad5b9..fd885d578e 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -872,7 +872,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
             break;
         }
         sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
-        sub.pmTest1++;
         break;
     }
 
diff --git a/ArduSub/Log.cpp b/ArduSub/Log.cpp
index 48d3d599c3..ef9dac4b43 100644
--- a/ArduSub/Log.cpp
+++ b/ArduSub/Log.cpp
@@ -131,37 +131,6 @@ void Sub::Log_Write_Control_Tuning()
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
 
-struct PACKED log_Performance {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint16_t num_long_running;
-    uint16_t num_loops;
-    uint32_t max_time;
-    int16_t  pm_test;
-    uint8_t i2c_lockup_count;
-    uint16_t ins_error_count;
-    uint32_t log_dropped;
-    uint32_t mem_avail;
-};
-
-// Write a performance monitoring packet
-void Sub::Log_Write_Performance()
-{
-    struct log_Performance pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
-        time_us          : AP_HAL::micros64(),
-        num_long_running : scheduler.perf_info.get_num_long_running(),
-        num_loops        : scheduler.perf_info.get_num_loops(),
-        max_time         : scheduler.perf_info.get_max_time(),
-        pm_test          : pmTest1,
-        i2c_lockup_count : 0,
-        ins_error_count  : ins.error_count(),
-        log_dropped      : DataFlash.num_dropped() - scheduler.perf_info.get_num_dropped(),
-        hal.util->available_memory()
-    };
-    DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
-}
-
 // Write an attitude packet
 void Sub::Log_Write_Attitude()
 {
@@ -424,8 +393,6 @@ const struct LogStructure Sub::log_structure[] = {
       "NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
     { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
       "CTUN", "Qfffffffccfhh", "TimeUS,ThI,ABst,ThO,ThH,DAlt,Alt,BAlt,DSAlt,SAlt,TAlt,DCRt,CRt", "s----mmmmmmnn", "F----00BBBBBB" },
-    { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
-      "PM",  "QHHIhBHII",    "TimeUS,NLon,NLoop,MaxT,PMT,I2CErr,INSErr,LogDrop,Mem", "s-------b", "F-------0" },
     { LOG_MOTBATT_MSG, sizeof(log_MotBatt),
       "MOTB", "Qffff",  "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
     { LOG_EVENT_MSG, sizeof(log_Event),         
diff --git a/ArduSub/Sub.cpp b/ArduSub/Sub.cpp
index 63505cbe28..4416b75209 100644
--- a/ArduSub/Sub.cpp
+++ b/ArduSub/Sub.cpp
@@ -51,7 +51,6 @@ Sub::Sub(void)
           pos_control(ahrs_view, inertial_nav, motors, attitude_control),
           wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
           circle_nav(inertial_nav, ahrs_view, pos_control),
-          pmTest1(0),
           in_mavlink_delay(false),
           param_loader(var_info),
           last_pilot_yaw_input_ms(0)
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 6e1c0fded4..84ec6035df 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -395,9 +395,6 @@ private:
     AC_WPNav wp_nav;
     AC_Circle circle_nav;
 
-    // Performance monitoring
-    int16_t pmTest1;
-
     // Reference to the relay object
     AP_Relay relay;
 
diff --git a/ArduSub/defines.h b/ArduSub/defines.h
index dc9a72ee5b..d3e6bf42bc 100644
--- a/ArduSub/defines.h
+++ b/ArduSub/defines.h
@@ -112,7 +112,6 @@ enum RTLState {
 #define TYPE_GROUNDSTART_MSG            0x01
 #define LOG_CONTROL_TUNING_MSG          0x04
 #define LOG_NAV_TUNING_MSG              0x05
-#define LOG_PERFORMANCE_MSG             0x06
 #define LOG_OPTFLOW_MSG                 0x0C
 #define LOG_EVENT_MSG                   0x0D
 #define LOG_ERROR_MSG                   0x13