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Simulator: Add performance counter for incoming packet interval

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This commit is contained in:
Lorenz Meier 2015-12-29 17:12:29 +01:00
parent fb3fade653
commit 62763904f2
2 changed files with 3 additions and 0 deletions
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2
src/modules/simulator/simulator.h
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@ -230,6 +230,7 @@ private:
_perf_gps(perf_alloc_once(PC_ELAPSED, "sim_gps_delay")),
_perf_airspeed(perf_alloc_once(PC_ELAPSED, "sim_airspeed_delay")),
_perf_sim_delay(perf_alloc_once(PC_ELAPSED, "sim_network_delay")),
_perf_sim_interval(perf_alloc(PC_INTERVAL, "sim_network_interval")),
_accel_pub(nullptr),
_baro_pub(nullptr),
_gyro_pub(nullptr),
@ -270,6 +271,7 @@ private:
perf_counter_t _perf_gps;
perf_counter_t _perf_airspeed;
perf_counter_t _perf_sim_delay;
perf_counter_t _perf_sim_interval;
// uORB publisher handlers
orb_advert_t _accel_pub;

1
src/modules/simulator/simulator_mavlink.cpp
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@ -248,6 +248,7 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
uint64_t timestamp = ts.tv_sec * 1000 * 1000 + ts.tv_nsec / 1000;
perf_set(_perf_sim_delay, timestamp - sim_timestamp);
perf_count(_perf_sim_interval);
if (publish) {
publish_sensor_topics(&imu);