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mavlink add tx loop interval perf counter

This commit is contained in:
Daniel Agar 2019-01-01 16:23:39 -05:00 committed by Nuno Marques
parent 55e3f80bab
commit f60bfd0020
2 changed files with 5 additions and 4 deletions
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7
src/modules/mavlink/mavlink_main.cpp
View File

@ -54,7 +54,6 @@
#include <errno.h>
#include <assert.h>
#include <math.h>
#include <poll.h>
#include <termios.h>
#include <time.h>
@ -269,7 +268,8 @@ Mavlink::Mavlink() :
_send_mutex {},
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el"))
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_loop_interval_perf(perf_alloc(PC_INTERVAL, "mavlink_int"))
{
_instance_id = Mavlink::instance_count();
@ -335,6 +335,7 @@ Mavlink::Mavlink() :
Mavlink::~Mavlink()
{
perf_free(_loop_perf);
perf_free(_loop_interval_perf);
if (_task_running) {
/* task wakes up every 10ms or so at the longest */
@ -568,7 +569,6 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
}
}
int
Mavlink::get_uart_fd(unsigned index)
{
@ -2282,6 +2282,7 @@ Mavlink::task_main(int argc, char *argv[])
/* main loop */
px4_usleep(_main_loop_delay);
perf_count(_loop_interval_perf);
perf_begin(_loop_perf);
hrt_abstime t = hrt_absolute_time();

2
src/modules/mavlink/mavlink_main.h
View File

@ -294,7 +294,6 @@ public:
*/
bool get_manual_input_mode_generation() { return _generate_rc; }
/**
* This is the beginning of a MAVLINK_START_UART_SEND/MAVLINK_END_UART_SEND transaction
*/
@ -647,6 +646,7 @@ private:
)
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _loop_interval_perf; /**< loop interval performance counter */
void mavlink_update_parameters();