mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.9 KiB
C++
143 lines
3.9 KiB
C++
#include "PerfInfo.h"
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#include <DataFlash/DataFlash.h>
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#include <GCS_MAVLink/GCS.h>
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extern const AP_HAL::HAL& hal;
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//
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// high level performance monitoring
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//
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// we measure the main loop time
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//
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// reset - reset all records of loop time to zero
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void AP::PerfInfo::reset()
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{
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loop_count = 0;
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max_time = 0;
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min_time = 0;
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long_running = 0;
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log_dropped = DataFlash_Class::instance()->num_dropped();
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sigma_time = 0;
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sigmasquared_time = 0;
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}
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// ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
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void AP::PerfInfo::ignore_this_loop()
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{
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ignore_loop = true;
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}
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// check_loop_time - check latest loop time vs min, max and overtime threshold
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void AP::PerfInfo::check_loop_time(uint32_t time_in_micros)
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{
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loop_count++;
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// exit if this loop should be ignored
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if (ignore_loop) {
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ignore_loop = false;
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return;
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}
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if( time_in_micros > max_time) {
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max_time = time_in_micros;
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}
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if( min_time == 0 || time_in_micros < min_time) {
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min_time = time_in_micros;
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}
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if (time_in_micros > overtime_threshold_micros) {
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long_running++;
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}
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sigma_time += time_in_micros;
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sigmasquared_time += time_in_micros * time_in_micros;
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/* we keep a filtered loop time for use as G_Dt which is the
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predicted time for the next loop. We remove really excessive
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times from this calculation so as not to throw it off too far
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in case we get a single long loop
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Note that the time we use here is the time between calls to
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check_loop_time() not the time from loop start to loop
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end. This is because we are using the time for time between
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calls to controllers, which has nothing to do with cpu speed.
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*/
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const uint32_t now = AP_HAL::micros();
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const uint32_t loop_time_us = now - last_check_us;
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last_check_us = now;
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if (loop_time_us < overtime_threshold_micros + 10000UL) {
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filtered_loop_time = 0.99f * filtered_loop_time + 0.01f * loop_time_us * 1.0e-6f;
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}
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}
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// get_num_loops: return number of loops used for recording performance
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uint16_t AP::PerfInfo::get_num_loops() const
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{
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return loop_count;
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}
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// get_max_time - return maximum loop time (in microseconds)
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uint32_t AP::PerfInfo::get_max_time() const
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{
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return max_time;
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}
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// get_min_time - return minumum loop time (in microseconds)
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uint32_t AP::PerfInfo::get_min_time() const
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{
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return min_time;
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}
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// get_num_long_running - get number of long running loops
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uint16_t AP::PerfInfo::get_num_long_running() const
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{
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return long_running;
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}
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// get_num_dropped - get number of dropped log messages
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uint32_t AP::PerfInfo::get_num_dropped() const
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{
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return log_dropped;
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}
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// get_avg_time - return average loop time (in microseconds)
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uint32_t AP::PerfInfo::get_avg_time() const
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{
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return (sigma_time / loop_count);
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}
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// get_stddev_time - return stddev of average loop time (in us)
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uint32_t AP::PerfInfo::get_stddev_time() const
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{
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return sqrt((sigmasquared_time - (sigma_time*sigma_time)/loop_count) / loop_count);
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}
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// get_filtered_time - return low pass filtered loop time in seconds
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float AP::PerfInfo::get_filtered_time() const
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{
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return filtered_loop_time;
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}
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void AP::PerfInfo::update_logging()
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{
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gcs().send_text(MAV_SEVERITY_WARNING,
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"PERF: %u/%u max=%lu min=%lu F=%u sd=%lu",
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(unsigned)get_num_long_running(),
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(unsigned)get_num_loops(),
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(unsigned long)get_max_time(),
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(unsigned long)get_min_time(),
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(unsigned)(get_filtered_time()*1.0e6),
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(unsigned long)get_stddev_time());
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}
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void AP::PerfInfo::set_loop_rate(uint16_t rate_hz)
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{
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// allow a 20% overrun before we consider a loop "slow":
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overtime_threshold_micros = 1000000/rate_hz * 1.2f;
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if (loop_rate_hz != rate_hz) {
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loop_rate_hz = rate_hz;
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filtered_loop_time = 1.0f / rate_hz;
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}
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}
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