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load_mon: NuttX cpuload use system times for calculation

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- this is to minimize the impact of any load_mon scheduling jitter in the sampled load percentage
This commit is contained in:
Daniel Agar
2022-10-05 14:21:38 -04:00
committed by GitHub
parent 29b031c862
commit 8cc39096cb
2 changed files with 10 additions and 4 deletions
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src/modules/load_mon/LoadMon.cpp
+9 -3
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@@ -140,17 +140,23 @@ void LoadMon::cpuload()
#elif defined(__PX4_NUTTX) #elif defined(__PX4_NUTTX)
if (_last_idle_time == 0) { if (_last_idle_time == 0) {
irqstate_t irqstate = enter_critical_section();
// Just get the time in the first iteration */ // Just get the time in the first iteration */
_last_idle_time = system_load.tasks[0].total_runtime; _last_idle_time = system_load.tasks[0].total_runtime;
_last_idle_time_sample = hrt_absolute_time(); _last_idle_time_sample = system_load.tasks[0].curr_start_time;
leave_critical_section(irqstate);
return; return;
} }
irqstate_t irqstate = enter_critical_section(); irqstate_t irqstate = enter_critical_section();
const hrt_abstime now = hrt_absolute_time(); const hrt_abstime now = system_load.tasks[0].curr_start_time;
const hrt_abstime total_runtime = system_load.tasks[0].total_runtime; const hrt_abstime total_runtime = system_load.tasks[0].total_runtime;
leave_critical_section(irqstate); leave_critical_section(irqstate);
if ((now == _last_idle_time_sample) || (total_runtime == _last_idle_time)) {
return;
}
// compute system load // compute system load
const float interval = now - _last_idle_time_sample; const float interval = now - _last_idle_time_sample;
const float interval_idletime = total_runtime - _last_idle_time; const float interval_idletime = total_runtime - _last_idle_time;
src/modules/load_mon/LoadMon.hpp
+1 -1
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@@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved. * Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions