Copter: move logging of PM messages to AP_Scheduler

ArduCopter/ArduCopter.cpp

@@ -192,12 +192,7 @@ void Copter::setup()
 
 void Copter::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 Copter::loop()

ArduCopter/Copter.cpp

@@ -46,7 +46,6 @@ Copter::Copter(void)
     yaw_look_at_heading_slew(0),
     yaw_look_ahead_bearing(0.0f),
     inertial_nav(ahrs),
-    pmTest1(0),
     auto_trim_counter(0),
     in_mavlink_delay(false),
     param_loader(var_info),

ArduCopter/Copter.h

@@ -468,9 +468,6 @@ private:
     AC_WPNav *wp_nav;
     AC_Circle *circle_nav;
 
-    // Performance monitoring
-    int16_t pmTest1;
-
     // System Timers
     // --------------
     // arm_time_ms - Records when vehicle was armed. Will be Zero if we are disarmed.

ArduCopter/GCS_Mavlink.cpp

@@ -720,7 +720,6 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
         // We keep track of the last time we received a heartbeat from our GCS for failsafe purposes
         if(msg->sysid != copter.g.sysid_my_gcs) break;
         copter.failsafe.last_heartbeat_ms = AP_HAL::millis();
-        copter.pmTest1++;
         break;
     }
 

ArduCopter/Log.cpp

@@ -180,37 +180,6 @@ void Copter::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 Copter::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 Copter::Log_Write_Attitude()
 {
@@ -639,8 +608,6 @@ const struct LogStructure Copter::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", "Qffffffeccfhh", "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),         

ArduCopter/defines.h

@@ -315,7 +315,6 @@ enum DevOptions {
 #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_PID_MSG                     0x0E    // deprecated