AP_Scheduler: move PERF: statustext sending into AP_Scheduler

libraries/AP_Scheduler/AP_Scheduler.cpp

@@ -240,3 +240,10 @@ void AP_Scheduler::loop()
 #endif
     perf_info.check_loop_time(AP_HAL::micros() - loop_start);
 }
+
+void AP_Scheduler::update_logging()
+{
+    if (debug()) {
+        perf_info.update_logging();
+    }
+}

libraries/AP_Scheduler/AP_Scheduler.h

@@ -78,6 +78,9 @@ public:
     // that function does
     void loop();
 
+    // call to update any logging the scheduler might do; call at 1Hz
+    void update_logging();
+
     // call when one tick has passed
     void tick(void);
 

libraries/AP_Scheduler/PerfInfo.cpp

@@ -1,6 +1,7 @@
 #include "PerfInfo.h"
 
 #include <DataFlash/DataFlash.h>
+#include <GCS_MAVLink/GCS.h>
 
 //
 //  high level performance monitoring
@@ -93,3 +94,15 @@ uint32_t AP::PerfInfo::get_stddev_time() const
 {
     return sqrt((sigmasquared_time - (sigma_time*sigma_time)/loop_count) / loop_count);
 }
+
+void AP::PerfInfo::update_logging()
+{
+    gcs().send_text(MAV_SEVERITY_WARNING,
+                    "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu",
+                    (unsigned)get_num_long_running(),
+                    (unsigned)get_num_loops(),
+                    (unsigned long)get_max_time(),
+                    (unsigned long)get_min_time(),
+                    (unsigned long)get_avg_time(),
+                    (unsigned long)get_stddev_time());
+}

libraries/AP_Scheduler/PerfInfo.h

@@ -28,6 +28,8 @@ public:
         overtime_threshold_micros = 1000000/rate_hz * 1.2f;
     }
 
+    void update_logging();
+
 private:
     uint16_t overtime_threshold_micros;
     uint16_t loop_count;