From f60bfd00200badda24eebb496b799067c6671c3b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 1 Jan 2019 16:23:39 -0500
Subject: [PATCH] mavlink add tx loop interval perf counter

---
 src/modules/mavlink/mavlink_main.cpp | 7 ++++---
 src/modules/mavlink/mavlink_main.h   | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index da171f2876..2ae7473860 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -54,7 +54,6 @@
 #include <errno.h>
 #include <assert.h>
 #include <math.h>
-#include <poll.h>
 #include <termios.h>
 #include <time.h>
 
@@ -269,7 +268,8 @@ Mavlink::Mavlink() :
 	_send_mutex {},
 
 	/* performance counters */
-	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el"))
+	_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
+	_loop_interval_perf(perf_alloc(PC_INTERVAL, "mavlink_int"))
 {
 	_instance_id = Mavlink::instance_count();
 
@@ -335,6 +335,7 @@ Mavlink::Mavlink() :
 Mavlink::~Mavlink()
 {
 	perf_free(_loop_perf);
+	perf_free(_loop_interval_perf);
 
 	if (_task_running) {
 		/* task wakes up every 10ms or so at the longest */
@@ -568,7 +569,6 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
 	}
 }
 
-
 int
 Mavlink::get_uart_fd(unsigned index)
 {
@@ -2282,6 +2282,7 @@ Mavlink::task_main(int argc, char *argv[])
 		/* main loop */
 		px4_usleep(_main_loop_delay);
 
+		perf_count(_loop_interval_perf);
 		perf_begin(_loop_perf);
 
 		hrt_abstime t = hrt_absolute_time();
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index d98d1ad743..512fbba42a 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -294,7 +294,6 @@ public:
 	 */
 	bool			get_manual_input_mode_generation() { return _generate_rc; }
 
-
 	/**
 	 * This is the beginning of a MAVLINK_START_UART_SEND/MAVLINK_END_UART_SEND transaction
 	 */
@@ -647,6 +646,7 @@ private:
 	)
 
 	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_loop_interval_perf;		/**< loop interval performance counter */
 
 	void			mavlink_update_parameters();