fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-17 11:20:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Simulator: Add performance counters for delay

Browse Source
This commit is contained in:
Lorenz Meier
2015-11-24 14:23:59 +01:00
parent 1de4403686
commit bd4497f883
2 changed files with 32 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator.h
+16
View File
@@ -50,6 +50,7 @@
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/optical_flow.h>
#include <v1.0/mavlink_types.h>
@@ -222,6 +223,13 @@ private:
_mag(1),
_gps(1),
_airspeed(1),
_perf_accel(perf_alloc_once(PC_ELAPSED, "sim_accel_delay")),
_perf_mpu(perf_alloc_once(PC_ELAPSED, "sim_mpu_delay")),
_perf_baro(perf_alloc_once(PC_ELAPSED, "sim_baro_delay")),
_perf_mag(perf_alloc_once(PC_ELAPSED, "sim_mag_delay")),
_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")),
_accel_pub(nullptr),
_baro_pub(nullptr),
_gyro_pub(nullptr),
@@ -255,6 +263,14 @@ private:
simulator::Report<simulator::RawGPSData> _gps;
simulator::Report<simulator::RawAirspeedData> _airspeed;
perf_counter_t _perf_accel;
perf_counter_t _perf_mpu;
perf_counter_t _perf_baro;
perf_counter_t _perf_mag;
perf_counter_t _perf_gps;
perf_counter_t _perf_airspeed;
perf_counter_t _perf_sim_delay;
// uORB publisher handlers
orb_advert_t _accel_pub;
orb_advert_t _baro_pub;