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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-07 18:19:47 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-01-11 11:03:56 +0100 |
| commit | 1bee73af2237d72a64adbf0a4bedd8b20581b4bd (patch) | |
| tree | 1df06708f70aa7ae675ab00805ea066947d33ab1 /src/drivers | |
| parent | 172dbf37070e2dccadc8779d6e0926d3f8d60706 (diff) | |
| download | px4-firmware-1bee73af2237d72a64adbf0a4bedd8b20581b4bd.tar.gz px4-firmware-1bee73af2237d72a64adbf0a4bedd8b20581b4bd.tar.bz2 px4-firmware-1bee73af2237d72a64adbf0a4bedd8b20581b4bd.zip | |
Latency measurements: Estimate latency based on sensor timestamp through full system
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index ed9487cf9..72b2dc772 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -263,7 +263,8 @@ private: perf_counter_t _perf_update; ///<local performance counter for status updates perf_counter_t _perf_write; ///<local performance counter for PWM control writes perf_counter_t _perf_chan_count; ///<local performance counter for channel number changes - perf_counter_t _perf_system_latency; ///< total system latency + perf_counter_t _perf_system_latency; ///< total system latency (based on perf) + perf_counter_t _perf_sample_latency; ///< total system latency (based on passed-through timestamp) /* cached IO state */ uint16_t _status; ///< Various IO status flags @@ -496,6 +497,7 @@ PX4IO::PX4IO(device::Device *interface) : _perf_write(perf_alloc(PC_ELAPSED, "io write")), _perf_chan_count(perf_alloc(PC_COUNT, "io rc #")), _perf_system_latency(perf_alloc_once(PC_ELAPSED, "sys_latency")), + _perf_sample_latency(perf_alloc(PC_ELAPSED, "io latency")), _status(0), _alarms(0), _t_actuator_controls_0(-1), @@ -1088,7 +1090,6 @@ int PX4IO::io_set_control_groups() { int ret = io_set_control_state(0); - perf_end(_perf_system_latency); /* send auxiliary control groups */ (void)io_set_control_state(1); @@ -1114,6 +1115,8 @@ PX4IO::io_set_control_state(unsigned group) if (changed) { orb_copy(ORB_ID(actuator_controls_0), _t_actuator_controls_0, &controls); + perf_end(_perf_system_latency); + perf_set(_perf_sample_latency, hrt_elapsed_time(&controls.timestamp_sample)); } } break; |