mirror of https://github.com/ArduPilot/ardupilot
97 lines
2.3 KiB
C++
97 lines
2.3 KiB
C++
#include "PerfInfo.h"
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#include <DataFlash/DataFlash.h>
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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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// 400hz loop update rate
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#define OVERTIME_THRESHOLD_MICROS 3000
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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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}
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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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