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px4-firmware
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perf counter cleanup (mostly intervals) 

Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
This commit is contained in:
Daniel Agar 2019-10-21 18:54:17 -04:00 committed by GitHub
parent f7e62349b3
commit 35398e05ca
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GPG Key ID: 4AEE18F83AFDEB23
10 changed files with 11 additions and 73 deletions
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7
src/drivers/dshot/dshot.cpp
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@ -220,7 +220,6 @@ private:
bool _outputs_initialized{false};
perf_counter_t _cycle_perf;
perf_counter_t _cycle_interval_perf;
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
@ -247,8 +246,7 @@ px4::atomic_bool DShotOutput::_request_telemetry_init{false};
DShotOutput::DShotOutput() :
CDev("/dev/dshot"),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, "dshot: cycle")),
_cycle_interval_perf(perf_alloc(PC_INTERVAL, "dshot: cycle interval"))
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_mixing_output.setAllDisarmedValues(DISARMED_VALUE);
_mixing_output.setAllMinValues(DISARMED_VALUE + 1);
@ -265,7 +263,6 @@ DShotOutput::~DShotOutput()
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
perf_free(_cycle_interval_perf);
delete _telemetry;
}
@ -756,7 +753,6 @@ DShotOutput::Run()
}
perf_begin(_cycle_perf);
perf_count(_cycle_interval_perf);
_mixing_output.update();
@ -1667,7 +1663,6 @@ int DShotOutput::print_status()
PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
perf_print_counter(_cycle_perf);
perf_print_counter(_cycle_interval_perf);
_mixing_output.printStatus();
if (_telemetry) {
PX4_INFO("telemetry on: %s", _telemetry_device);

7
src/drivers/px4fmu/fmu.cpp
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@ -187,7 +187,6 @@ private:
unsigned _num_disarmed_set{0};
perf_counter_t _cycle_perf;
perf_counter_t _cycle_interval_perf;
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
@ -212,8 +211,7 @@ private:
PX4FMU::PX4FMU() :
CDev(PX4FMU_DEVICE_PATH),
OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, "px4fmu: cycle")),
_cycle_interval_perf(perf_alloc(PC_INTERVAL, "px4fmu: cycle interval"))
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
@ -229,7 +227,6 @@ PX4FMU::~PX4FMU()
unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
perf_free(_cycle_perf);
perf_free(_cycle_interval_perf);
}
int
@ -755,7 +752,6 @@ PX4FMU::Run()
}
perf_begin(_cycle_perf);
perf_count(_cycle_interval_perf);
_mixing_output.update();
@ -2305,7 +2301,6 @@ int PX4FMU::print_status()
}
perf_print_counter(_cycle_perf);
perf_print_counter(_cycle_interval_perf);
_mixing_output.printStatus();
return 0;

6
src/lib/drivers/accelerometer/CMakeLists.txt
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@ -32,4 +32,8 @@
############################################################################
px4_add_library(drivers_accelerometer PX4Accelerometer.cpp)
target_link_libraries(drivers_accelerometer PRIVATE drivers__device)
target_link_libraries(drivers_accelerometer
PRIVATE
drivers__device
mathlib
)

13
src/modules/ekf2/ekf2_main.cpp
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@ -171,8 +171,6 @@ private:
uint64_t _start_time_us = 0; ///< system time at EKF start (uSec)
int64_t _last_time_slip_us = 0; ///< Last time slip (uSec)
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
perf_counter_t _ekf_update_perf;
// Initialise time stamps used to send sensor data to the EKF and for logging
@ -549,8 +547,6 @@ Ekf2::Ekf2(bool replay_mode):
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_replay_mode(replay_mode),
_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time")),
_interval_perf(perf_alloc_once(PC_INTERVAL, MODULE_NAME": interval")),
_ekf_update_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": update")),
_params(_ekf.getParamHandle()),
_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
@ -656,8 +652,6 @@ Ekf2::Ekf2(bool replay_mode):
Ekf2::~Ekf2()
{
perf_free(_cycle_perf);
perf_free(_interval_perf);
perf_free(_ekf_update_perf);
}
@ -679,8 +673,6 @@ int Ekf2::print_status()
PX4_INFO("time slip: %" PRId64 " us", _last_time_slip_us);
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
perf_print_counter(_ekf_update_perf);
return 0;
@ -728,9 +720,6 @@ void Ekf2::Run()
return;
}
perf_begin(_cycle_perf);
perf_count(_interval_perf);
sensor_combined_s sensors;
if (_sensors_sub.update(&sensors)) {
@ -1751,8 +1740,6 @@ void Ekf2::Run()
// publish ekf2_timestamps
_ekf2_timestamps_pub.publish(ekf2_timestamps);
}
perf_end(_cycle_perf);
}
int Ekf2::getRangeSubIndex()

7
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -195,7 +195,6 @@ private:
WeatherVane *_wv_controller{nullptr};
perf_counter_t _cycle_perf;
perf_counter_t _interval_perf;
/**
* Update our local parameter cache.
@ -289,8 +288,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_vel_y_deriv(this, "VELD"),
_vel_z_deriv(this, "VELD"),
_control(this),
_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time")),
_interval_perf(perf_alloc_once(PC_INTERVAL, MODULE_NAME": interval"))
_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time"))
{
// fetch initial parameter values
parameters_update(true);
@ -306,7 +304,6 @@ MulticopterPositionControl::~MulticopterPositionControl()
}
perf_free(_cycle_perf);
perf_free(_interval_perf);
}
bool
@ -515,7 +512,6 @@ MulticopterPositionControl::print_status()
}
perf_print_counter(_cycle_perf);
perf_print_counter(_interval_perf);
return 0;
}
@ -530,7 +526,6 @@ MulticopterPositionControl::Run()
}
perf_begin(_cycle_perf);
perf_count(_interval_perf);
if (_local_pos_sub.update(&_local_pos)) {

16
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
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@ -40,18 +40,13 @@ using namespace time_literals;
VehicleAcceleration::VehicleAcceleration() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: cycle time")),
_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: sensor latency"))
WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
{
}
VehicleAcceleration::~VehicleAcceleration()
{
Stop();
perf_free(_cycle_perf);
perf_free(_sensor_latency_perf);
}
bool
@ -175,16 +170,12 @@ VehicleAcceleration::ParametersUpdate(bool force)
void
VehicleAcceleration::Run()
{
perf_begin(_cycle_perf);
// update corrections first to set _selected_sensor
SensorCorrectionsUpdate();
sensor_accel_s sensor_data;
if (_sensor_sub[_selected_sensor].update(&sensor_data)) {
perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
ParametersUpdate();
SensorBiasUpdate();
@ -207,15 +198,10 @@ VehicleAcceleration::Run()
_vehicle_acceleration_pub.publish(out);
}
perf_end(_cycle_perf);
}
void
VehicleAcceleration::PrintStatus()
{
PX4_INFO("selected sensor: %d", _selected_sensor);
perf_print_counter(_cycle_perf);
perf_print_counter(_sensor_latency_perf);
}

4
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
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@ -36,7 +36,6 @@
#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_log.h>
#include <px4_module_params.h>
@ -101,9 +100,6 @@ private:
matrix::Vector3f _scale;
matrix::Vector3f _bias;
perf_counter_t _cycle_perf;
perf_counter_t _sensor_latency_perf;
uint8_t _selected_sensor{0};
};

18
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
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@ -40,18 +40,13 @@ using namespace time_literals;
VehicleAngularVelocity::VehicleAngularVelocity() :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: cycle time")),
_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: sensor latency"))
WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
{
}
VehicleAngularVelocity::~VehicleAngularVelocity()
{
Stop();
perf_free(_cycle_perf);
perf_free(_sensor_latency_perf);
}
bool
@ -214,8 +209,6 @@ VehicleAngularVelocity::ParametersUpdate(bool force)
void
VehicleAngularVelocity::Run()
{
perf_begin(_cycle_perf);
// update corrections first to set _selected_sensor
SensorCorrectionsUpdate();
@ -224,8 +217,6 @@ VehicleAngularVelocity::Run()
sensor_gyro_control_s sensor_data;
if (_sensor_control_sub[_selected_sensor].update(&sensor_data)) {
perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
ParametersUpdate();
SensorBiasUpdate();
@ -251,8 +242,6 @@ VehicleAngularVelocity::Run()
sensor_gyro_s sensor_data;
if (_sensor_sub[_selected_sensor].update(&sensor_data)) {
perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
ParametersUpdate();
SensorBiasUpdate();
@ -276,8 +265,6 @@ VehicleAngularVelocity::Run()
_vehicle_angular_velocity_pub.publish(angular_velocity);
}
}
perf_end(_cycle_perf);
}
void
@ -291,7 +278,4 @@ VehicleAngularVelocity::PrintStatus()
} else {
PX4_WARN("sensor_gyro_control unavailable for selected sensor: %d (%d)", _selected_sensor_device_id, _selected_sensor);
}
perf_print_counter(_cycle_perf);
perf_print_counter(_sensor_latency_perf);
}

4
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
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@ -36,7 +36,6 @@
#include <lib/conversion/rotation.h>
#include <lib/mathlib/math/Limits.hpp>
#include <lib/matrix/matrix/math.hpp>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_log.h>
#include <px4_module_params.h>
@ -109,9 +108,6 @@ private:
matrix::Vector3f _scale;
matrix::Vector3f _bias;
perf_counter_t _cycle_perf;
perf_counter_t _sensor_latency_perf;
uint32_t _selected_sensor_device_id{0};
uint8_t _selected_sensor{0};
uint8_t _selected_sensor_control{0};