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Plane: use AP::PerfInfo library

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This commit is contained in:
Peter Barker 2017-11-13 14:44:16 +11:00 committed by Andrew Tridgell
parent 9511e72113
commit 519e6c31d2
3 changed files with 34 additions and 23 deletions
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40
ArduPlane/ArduPlane.cpp
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@ -115,19 +115,19 @@ void Plane::setup()
void Plane::loop()
{
uint32_t loop_us = 1000000UL / scheduler.get_loop_rate_hz();
// wait for an INS sample
ins.wait_for_sample();
uint32_t timer = micros();
// check loop time
perf_info.check_loop_time(timer - fast_loopTimer);
G_Dt = (float)(timer - fast_loopTimer) * 1.0e-6;
fast_loopTimer = timer;
perf_info.check_loop_time(timer - perf.fast_loopTimer_us);
mainLoop_count++;
G_Dt = (timer - perf.fast_loopTimer_us) * 1.0e-6f;
perf.fast_loopTimer_us = timer;
// for mainloop failure monitoring
perf.mainLoop_count++;
// tell the scheduler one tick has passed
scheduler.tick();
@ -137,7 +137,9 @@ void Plane::loop()
// in multiples of the main loop tick. So if they don't run on
// the first call to the scheduler they won't run on a later
// call until scheduler.tick() is called again
scheduler.run(loop_us);
const uint32_t loop_us = scheduler.get_loop_period_us();
const uint32_t time_available = (timer + loop_us) - micros();
scheduler.run(time_available);
}
void Plane::update_soft_armed()
@ -359,19 +361,23 @@ void Plane::one_second_loop()
void Plane::log_perf_info()
{
if (scheduler.debug() != 0) {
gcs().send_text(MAV_SEVERITY_INFO,
"PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu Log=%u",
(unsigned)perf_info.get_num_long_running(),
(unsigned)perf_info.get_num_loops(),
(unsigned long)perf_info.get_max_time(),
(unsigned long)perf_info.get_min_time(),
(unsigned long)perf_info.get_avg_time(),
(unsigned long)perf_info.get_stddev_time(),
(unsigned)(DataFlash.num_dropped() - perf_info.get_num_dropped()));
}
if (should_log(MASK_LOG_PM)) {
Log_Write_Performance();
}
if (scheduler.debug()) {
gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu",
(unsigned)perf_info.get_num_long_running(),
(unsigned)perf_info.get_num_loops(),
(unsigned long)perf_info.get_max_time(),
(unsigned long)perf_info.get_min_time(),
(unsigned long)perf_info.get_avg_time(),
(unsigned long)perf_info.get_stddev_time());
}
perf_info.reset(scheduler.get_loop_rate_hz());
perf_info.reset();
}
void Plane::compass_save()

4
ArduPlane/Log.cpp
View File

@ -73,10 +73,10 @@ void Plane::Log_Write_Performance()
LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
time_us : AP_HAL::micros64(),
num_long : perf_info.get_num_long_running(),
main_loop_count : (uint16_t)mainLoop_count,
main_loop_count : perf_info.get_num_loops(),
g_dt_max : perf_info.get_max_time(),
g_dt_min : perf_info.get_min_time(),
log_dropped : dropped - last_log_dropped,
log_dropped : DataFlash.num_dropped() - perf_info.get_num_dropped(),
hal.util->available_memory()
};
last_log_dropped = dropped;

13
ArduPlane/Plane.h
View File

@ -64,6 +64,7 @@
#include <AP_Declination/AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <DataFlash/DataFlash.h>
#include <AP_Scheduler/AP_Scheduler.h> // main loop scheduler
#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
#include <AP_Navigation/AP_Navigation.h>
#include <AP_L1_Control/AP_L1_Control.h>
@ -95,7 +96,6 @@
#include <AP_Button/AP_Button.h>
#include <AP_ICEngine/AP_ICEngine.h>
#include <AP_Landing/AP_Landing.h>
#include <AP_Scheduler/PerfInfo.h> // loop perf monitoring
#include "GCS_Mavlink.h"
#include "GCS_Plane.h"
@ -737,9 +737,14 @@ private:
// loop performance monitoring:
AP::PerfInfo perf_info;
uint32_t mainLoop_count;
uint32_t fast_loopTimer;
uint32_t last_log_dropped;
struct {
// System Timers
// Time in microseconds of start of main control loop
uint32_t fast_loopTimer_us;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
uint16_t mainLoop_count;
} perf;
struct {
uint32_t last_trim_check;