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AP_Scheduler: remove loop-period argument from load_average

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This now comes from a parameter rather than being hard-set
in the vehicle code

Also adds a method returning the max loop period based on the
loop rate
This commit is contained in:
Peter Barker 2017-07-30 15:02:40 +10:00 committed by Francisco Ferreira
parent efe70c8d3a
commit b445313bf1
2 changed files with 10 additions and 5 deletions
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7
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -189,11 +189,12 @@ uint16_t AP_Scheduler::time_available_usec(void)
/*
calculate load average as a number from 0 to 1
*/
float AP_Scheduler::load_average(uint32_t tick_time_usec) const
float AP_Scheduler::load_average() const
{
if (_spare_ticks == 0) {
return 0.0f;
}
uint32_t used_time = tick_time_usec - (_spare_micros/_spare_ticks);
return used_time / (float)tick_time_usec;
const uint32_t loop_us = get_loop_period_us();
const uint32_t used_time = loop_us - (_spare_micros/_spare_ticks);
return used_time / (float)loop_us;
}

8
libraries/AP_Scheduler/AP_Scheduler.h
View File

@ -83,13 +83,17 @@ public:
// return load average, as a number between 0 and 1. 1 means
// 100% load. Calculated from how much spare time we have at the
// end of a run()
float load_average(uint32_t tick_time_usec) const;
float load_average() const;
// get the configured main loop rate
uint16_t get_loop_rate_hz(void) const {
return _loop_rate_hz;
}
// get the time-allowed-per-loop:
uint32_t get_loop_period_us() const {
return 1000000UL / _loop_rate_hz;
}
static const struct AP_Param::GroupInfo var_info[];
// current running task, or -1 if none. Used to debug stuck tasks