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Latency measurements: Estimate latency based on sensor timestamp through full system

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Lorenz Meier
2015-01-11 11:03:56 +01:00
parent 172dbf3707
commit 1bee73af22
3 changed files with 8 additions and 2 deletions
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src/drivers/px4io/px4io.cpp
+5 -2
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@@ -263,7 +263,8 @@ private:
perf_counter_t _perf_update; ///<local performance counter for status updates perf_counter_t _perf_update; ///<local performance counter for status updates
perf_counter_t _perf_write; ///<local performance counter for PWM control writes perf_counter_t _perf_write; ///<local performance counter for PWM control writes
perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes
perf_counter_t _perf_system_latency; ///< total system latency perf_counter_t _perf_system_latency; ///< total system latency (based on perf)
perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp)
/* cached IO state */ /* cached IO state */
uint16_t _status; ///< Various IO status flags uint16_t _status; ///< Various IO status flags
@@ -496,6 +497,7 @@ PX4IO::PX4IO(device::Device *interface) :
_perf_write(perf_alloc(PC_ELAPSED, "io write")), _perf_write(perf_alloc(PC_ELAPSED, "io write")),
_perf_chan_count(perf_alloc(PC_COUNT, "io rc #")), _perf_chan_count(perf_alloc(PC_COUNT, "io rc #")),
_perf_system_latency(perf_alloc_once(PC_ELAPSED, "sys_latency")), _perf_system_latency(perf_alloc_once(PC_ELAPSED, "sys_latency")),
_perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")),
_status(0), _status(0),
_alarms(0), _alarms(0),
_t_actuator_controls_0(-1), _t_actuator_controls_0(-1),
@@ -1088,7 +1090,6 @@ int
PX4IO::io_set_control_groups() PX4IO::io_set_control_groups()
{ {
int ret = io_set_control_state(0); int ret = io_set_control_state(0);
perf_end(_perf_system_latency);
/* send auxiliary control groups */ /* send auxiliary control groups */
(void)io_set_control_state(1); (void)io_set_control_state(1);
@@ -1114,6 +1115,8 @@ PX4IO::io_set_control_state(unsigned group)
if (changed) { if (changed) {
orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls); orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls);
perf_end(_perf_system_latency);
perf_set(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample));
} }
} }
break; break;
src/modules/fw_att_control/fw_att_control_main.cpp
+2
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@@ -1060,7 +1060,9 @@ FixedwingAttitudeControl::task_main()
/* lazily publish the setpoint only once available */ /* lazily publish the setpoint only once available */
_actuators.timestamp = hrt_absolute_time(); _actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _att.timestamp;
_actuators_airframe.timestamp = hrt_absolute_time(); _actuators_airframe.timestamp = hrt_absolute_time();
_actuators_airframe.timestamp_sample = _att.timestamp;
/* publish the actuator controls */ /* publish the actuator controls */
if (_actuators_0_pub > 0) { if (_actuators_0_pub > 0) {
src/modules/uORB/topics/actuator_controls.h
+1
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@@ -62,6 +62,7 @@
struct actuator_controls_s { struct actuator_controls_s {
uint64_t timestamp; uint64_t timestamp;
uint64_t timestamp_sample; /**< the timestamp the data this control response is based on was sampled */
float control[NUM_ACTUATOR_CONTROLS]; float control[NUM_ACTUATOR_CONTROLS];
}; };