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Sub: move logging of PM messages to AP_Scheduler

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Peter Barker 2017-11-16 14:25:53 +11:00 committed by Andrew Tridgell
parent bfc373aeff
commit 980fbf6cfb
6 changed files with 1 additions and 45 deletions
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7
ArduSub/ArduSub.cpp
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@ -94,12 +94,7 @@ void Sub::setup()
void Sub::perf_update(void) void Sub::perf_update(void)
{ {
if (should_log(MASK_LOG_PM)) { scheduler.update_logging(should_log(MASK_LOG_PM));
Log_Write_Performance();
}
scheduler.update_logging();
scheduler.perf_info.reset();
pmTest1 = 0;
} }
void Sub::loop() void Sub::loop()

1
ArduSub/GCS_Mavlink.cpp
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@ -872,7 +872,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break; break;
} }
sub.failsafe.last_heartbeat_ms = AP_HAL::millis(); sub.failsafe.last_heartbeat_ms = AP_HAL::millis();
sub.pmTest1++;
break; break;
} }

33
ArduSub/Log.cpp
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@ -131,37 +131,6 @@ void Sub::Log_Write_Control_Tuning()
DataFlash.WriteBlock(&pkt, sizeof(pkt)); 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 // Write an attitude packet
void Sub::Log_Write_Attitude() 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" }, "NTUN", "Qffffffffff", "TimeUS,DPosX,DPosY,PosX,PosY,DVelX,DVelY,VelX,VelY,DAccX,DAccY", "smmmmnnnnoo", "FBBBBBBBBBB" },
{ LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning), { 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" }, "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), { LOG_MOTBATT_MSG, sizeof(log_MotBatt),
"MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" }, "MOTB", "Qffff", "TimeUS,LiftMax,BatVolt,BatRes,ThLimit", "s-vw-", "F-00-" },
{ LOG_EVENT_MSG, sizeof(log_Event), { LOG_EVENT_MSG, sizeof(log_Event),

1
ArduSub/Sub.cpp
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@ -51,7 +51,6 @@ Sub::Sub(void)
pos_control(ahrs_view, inertial_nav, motors, attitude_control), pos_control(ahrs_view, inertial_nav, motors, attitude_control),
wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control), wp_nav(inertial_nav, ahrs_view, pos_control, attitude_control),
circle_nav(inertial_nav, ahrs_view, pos_control), circle_nav(inertial_nav, ahrs_view, pos_control),
pmTest1(0),
in_mavlink_delay(false), in_mavlink_delay(false),
param_loader(var_info), param_loader(var_info),
last_pilot_yaw_input_ms(0) last_pilot_yaw_input_ms(0)

3
ArduSub/Sub.h
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@ -395,9 +395,6 @@ private:
AC_WPNav wp_nav; AC_WPNav wp_nav;
AC_Circle circle_nav; AC_Circle circle_nav;
// Performance monitoring
int16_t pmTest1;
// Reference to the relay object // Reference to the relay object
AP_Relay relay; AP_Relay relay;

1
ArduSub/defines.h
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@ -112,7 +112,6 @@ enum RTLState {
#define TYPE_GROUNDSTART_MSG 0x01 #define TYPE_GROUNDSTART_MSG 0x01
#define LOG_CONTROL_TUNING_MSG 0x04 #define LOG_CONTROL_TUNING_MSG 0x04
#define LOG_NAV_TUNING_MSG 0x05 #define LOG_NAV_TUNING_MSG 0x05
#define LOG_PERFORMANCE_MSG 0x06
#define LOG_OPTFLOW_MSG 0x0C #define LOG_OPTFLOW_MSG 0x0C
#define LOG_EVENT_MSG 0x0D #define LOG_EVENT_MSG 0x0D
#define LOG_ERROR_MSG 0x13 #define LOG_ERROR_MSG 0x13