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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/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+1 -17
View File
@@ -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);
}