mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
128 lines
3.3 KiB
C++
128 lines
3.3 KiB
C++
#include "PerfInfo.h"
|
|
|
|
#include <DataFlash/DataFlash.h>
|
|
#include <GCS_MAVLink/GCS.h>
|
|
|
|
//
|
|
// high level performance monitoring
|
|
//
|
|
// we measure the main loop time
|
|
//
|
|
|
|
// reset - reset all records of loop time to zero
|
|
void AP::PerfInfo::reset()
|
|
{
|
|
loop_count = 0;
|
|
max_time = 0;
|
|
min_time = 0;
|
|
long_running = 0;
|
|
log_dropped = DataFlash_Class::instance()->num_dropped();
|
|
sigma_time = 0;
|
|
sigmasquared_time = 0;
|
|
}
|
|
|
|
// ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
|
|
void AP::PerfInfo::ignore_this_loop()
|
|
{
|
|
ignore_loop = true;
|
|
}
|
|
|
|
// check_loop_time - check latest loop time vs min, max and overtime threshold
|
|
void AP::PerfInfo::check_loop_time(uint32_t time_in_micros)
|
|
{
|
|
loop_count++;
|
|
|
|
// exit if this loop should be ignored
|
|
if (ignore_loop) {
|
|
ignore_loop = false;
|
|
return;
|
|
}
|
|
|
|
if( time_in_micros > max_time) {
|
|
max_time = time_in_micros;
|
|
}
|
|
if( min_time == 0 || time_in_micros < min_time) {
|
|
min_time = time_in_micros;
|
|
}
|
|
if (time_in_micros > overtime_threshold_micros) {
|
|
long_running++;
|
|
}
|
|
sigma_time += time_in_micros;
|
|
sigmasquared_time += time_in_micros * time_in_micros;
|
|
|
|
// we keep a filtered loop time for use as G_Dt which is the
|
|
// predicted time for the next loop
|
|
filtered_loop_time = 0.99 * filtered_loop_time + 0.01 * time_in_micros * 1.0e-6;
|
|
}
|
|
|
|
// get_num_loops: return number of loops used for recording performance
|
|
uint16_t AP::PerfInfo::get_num_loops() const
|
|
{
|
|
return loop_count;
|
|
}
|
|
|
|
// get_max_time - return maximum loop time (in microseconds)
|
|
uint32_t AP::PerfInfo::get_max_time() const
|
|
{
|
|
return max_time;
|
|
}
|
|
|
|
// get_min_time - return minumum loop time (in microseconds)
|
|
uint32_t AP::PerfInfo::get_min_time() const
|
|
{
|
|
return min_time;
|
|
}
|
|
|
|
// get_num_long_running - get number of long running loops
|
|
uint16_t AP::PerfInfo::get_num_long_running() const
|
|
{
|
|
return long_running;
|
|
}
|
|
|
|
// get_num_dropped - get number of dropped log messages
|
|
uint32_t AP::PerfInfo::get_num_dropped() const
|
|
{
|
|
return log_dropped;
|
|
}
|
|
|
|
// get_avg_time - return average loop time (in microseconds)
|
|
uint32_t AP::PerfInfo::get_avg_time() const
|
|
{
|
|
return (sigma_time / loop_count);
|
|
}
|
|
|
|
// get_stddev_time - return stddev of average loop time (in us)
|
|
uint32_t AP::PerfInfo::get_stddev_time() const
|
|
{
|
|
return sqrt((sigmasquared_time - (sigma_time*sigma_time)/loop_count) / loop_count);
|
|
}
|
|
|
|
// get_filtered_time - return low pass filtered loop time in seconds
|
|
float AP::PerfInfo::get_filtered_time() const
|
|
{
|
|
return filtered_loop_time;
|
|
}
|
|
|
|
void AP::PerfInfo::update_logging()
|
|
{
|
|
gcs().send_text(MAV_SEVERITY_WARNING,
|
|
"PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu",
|
|
(unsigned)get_num_long_running(),
|
|
(unsigned)get_num_loops(),
|
|
(unsigned long)get_max_time(),
|
|
(unsigned long)get_min_time(),
|
|
(unsigned long)get_avg_time(),
|
|
(unsigned long)get_stddev_time());
|
|
}
|
|
|
|
void AP::PerfInfo::set_loop_rate(uint16_t rate_hz)
|
|
{
|
|
// allow a 20% overrun before we consider a loop "slow":
|
|
overtime_threshold_micros = 1000000/rate_hz * 1.2f;
|
|
|
|
if (loop_rate_hz != rate_hz) {
|
|
loop_rate_hz = rate_hz;
|
|
filtered_loop_time = 1.0 / rate_hz;
|
|
}
|
|
}
|