AP_Scheduler: pass log-performance-bit at init time rather than update time

libraries/AP_Scheduler/AP_Scheduler.cpp

@@ -74,7 +74,7 @@ AP_Scheduler::AP_Scheduler(scheduler_fastloop_fn_t fastloop_fn) :
 }
 
 // initialise the scheduler
-void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
+void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit)
 {
     _tasks = tasks;
     _num_tasks = num_tasks;
@@ -86,6 +86,8 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks)
     perf_info.set_loop_rate(get_loop_rate_hz());
     perf_info.reset();
     loop_start = AP_HAL::micros();
+
+    _log_performance_bit = log_performance_bit;
 }
 
 // one tick has passed
@@ -242,12 +244,13 @@ void AP_Scheduler::loop()
     perf_info.check_loop_time(AP_HAL::micros() - loop_start);
 }
 
-void AP_Scheduler::update_logging(const bool log_to_dataflash)
+void AP_Scheduler::update_logging()
 {
     if (debug_flags()) {
         perf_info.update_logging();
     }
-    if (log_to_dataflash) {
+    if (_log_performance_bit != (uint32_t)-1 &&
+        DataFlash_Class::instance()->should_log(_log_performance_bit)) {
         Log_Write_Performance();
     }
     perf_info.set_loop_rate(get_loop_rate_hz());

libraries/AP_Scheduler/AP_Scheduler.h

@@ -72,14 +72,14 @@ public:
     };
 
     // initialise scheduler
-    void init(const Task *tasks, uint8_t num_tasks);
+    void init(const Task *tasks, uint8_t num_tasks, uint32_t log_performance_bit);
 
     // called by vehicle's main loop - which should be the only thing
     // that function does
     void loop();
 
     // call to update any logging the scheduler might do; call at 1Hz
-    void update_logging(bool log_to_dataflash);
+    void update_logging();
 
     // write out PERF message to dataflash
     void Log_Write_Performance();
@@ -188,4 +188,7 @@ private:
 
     // performance counters
     AP_HAL::Util::perf_counter_t *_perf_counters;
+
+    // bitmask bit which indicates if we should log PERF message to dataflash
+    uint32_t _log_performance_bit;
 };