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improve end to end control latency measurement (#9388)

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This commit is contained in:
Daniel Agar
2018-05-02 03:03:32 -04:00
committed by GitHub
parent edea1b65cd
commit 977ab4e7b8
25 changed files with 132 additions and 64 deletions
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src/modules/simulator/gyrosim/gyrosim.cpp
-4
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@@ -168,7 +168,6 @@ private:
perf_counter_t _sample_perf;
perf_counter_t _good_transfers;
perf_counter_t _reset_retries;
perf_counter_t _controller_latency_perf;
Integrator _accel_int;
Integrator _gyro_int;
@@ -323,7 +322,6 @@ GYROSIM::GYROSIM(const char *path_accel, const char *path_gyro, enum Rotation ro
_sample_perf(perf_alloc(PC_ELAPSED, "gyrosim_read")),
_good_transfers(perf_alloc(PC_COUNT, "gyrosim_good_transfers")),
_reset_retries(perf_alloc(PC_COUNT, "gyrosim_reset_retries")),
_controller_latency_perf(perf_alloc_once(PC_ELAPSED, "ctrl_latency")),
_accel_int(1000000 / GYROSIM_ACCEL_DEFAULT_RATE, true),
_gyro_int(1000000 / GYROSIM_GYRO_DEFAULT_RATE, true),
_rotation(rotation),
@@ -1093,8 +1091,6 @@ GYROSIM::_measure()
if (accel_notify) {
if (!(_pub_blocked)) {
/* log the time of this report */
perf_begin(_controller_latency_perf);
/* publish it */
orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
}