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perf counter cleanup (mostly intervals)

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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
10 changed files with 11 additions and 73 deletions
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src/modules/ekf2/ekf2_main.cpp
-13
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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()
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -6
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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)) {
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+1 -15
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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);
}
src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
-4
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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};
};
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+1 -17
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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);
}
src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
-4
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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};