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.

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -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

@@ -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

@@ -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

@@ -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};