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AP_Scheduler: fixed filtered loop time

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This commit is contained in:
Andrew Tridgell 2018-02-10 12:20:45 +11:00
parent 832a96d29f
commit 434c3fffc7
2 changed files with 19 additions and 3 deletions
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21
libraries/AP_Scheduler/PerfInfo.cpp
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@ -3,6 +3,8 @@
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS.h>
extern const AP_HAL::HAL& hal;
//
// high level performance monitoring
//
@ -50,9 +52,22 @@ void AP::PerfInfo::check_loop_time(uint32_t time_in_micros)
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;
/* we keep a filtered loop time for use as G_Dt which is the
predicted time for the next loop. We remove really excessive
times from this calculation so as not to throw it off too far
in case we get a single long loop
Note that the time we use here is the time between calls to
check_loop_time() not the time from loop start to loop
end. This is because we are using the time for time between
calls to controllers, which has nothing to do with cpu speed.
*/
const uint32_t now = AP_HAL::micros();
const uint32_t loop_time_us = now - last_check_us;
last_check_us = now;
if (loop_time_us < overtime_threshold_micros + 10000UL) {
filtered_loop_time = 0.99 * filtered_loop_time + 0.01 * loop_time_us * 1.0e-6;
}
}
// get_num_loops: return number of loops used for recording performance

1
libraries/AP_Scheduler/PerfInfo.h
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@ -37,6 +37,7 @@ private:
uint64_t sigmasquared_time;
uint16_t long_running;
uint32_t log_dropped;
uint32_t last_check_us;
float filtered_loop_time;
bool ignore_loop;