Copter: use AP::PerfInfo library

ArduCopter/ArduCopter.cpp

@@ -178,7 +178,7 @@ void Copter::setup()
     scheduler.init(&scheduler_tasks[0], ARRAY_SIZE(scheduler_tasks));
 
     // setup initial performance counters
-    perf_info_reset();
+    perf_info.reset();
     fast_loopTimer = AP_HAL::micros();
 }
 
@@ -196,14 +196,14 @@ void Copter::perf_update(void)
         Log_Write_Performance();
     if (scheduler.debug()) {
         gcs().send_text(MAV_SEVERITY_WARNING, "PERF: %u/%u max=%lu min=%lu avg=%lu sd=%lu",
-                          (unsigned)perf_info_get_num_long_running(),
-                          (unsigned)perf_info_get_num_loops(),
-                          (unsigned long)perf_info_get_max_time(),
-                          (unsigned long)perf_info_get_min_time(),
-                          (unsigned long)perf_info_get_avg_time(),
-                          (unsigned long)perf_info_get_stddev_time());
+                          (unsigned)perf_info.get_num_long_running(),
+                          (unsigned)perf_info.get_num_loops(),
+                          (unsigned long)perf_info.get_max_time(),
+                          (unsigned long)perf_info.get_min_time(),
+                          (unsigned long)perf_info.get_avg_time(),
+                          (unsigned long)perf_info.get_stddev_time());
     }
-    perf_info_reset();
+    perf_info.reset();
     pmTest1 = 0;
 }
 
@@ -223,7 +223,7 @@ void Copter::loop()
     uint32_t timer = micros();
 
     // check loop time
-    perf_info_check_loop_time(timer - fast_loopTimer);
+    perf_info.check_loop_time(timer - fast_loopTimer);
 
     // used by PI Loops
     G_Dt                    = (float)(timer - fast_loopTimer) / 1000000.0f;

ArduCopter/Copter.h

@@ -78,6 +78,7 @@
 #include <AC_Fence/AC_Fence.h>           // Arducopter Fence library
 #include <AC_Avoidance/AC_Avoid.h>           // Arducopter stop at fence library
 #include <AP_Scheduler/AP_Scheduler.h>       // main loop scheduler
+#include <AP_Scheduler/PerfInfo.h>       // loop perf monitoring
 #include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
 #include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
@@ -475,6 +476,9 @@ private:
     // filtered pilot's throttle input used to cancel landing if throttle held high
     LowPassFilterFloat rc_throttle_control_in_filter;
 
+    // loop performance monitoring:
+    AP::PerfInfo perf_info = AP::PerfInfo::create();
+
     // 3D Location vectors
     // Current location of the copter (altitude is relative to home)
     Location_Class current_loc;
@@ -1032,16 +1036,6 @@ private:
     void calc_wp_bearing();
     void calc_home_distance_and_bearing();
     void run_autopilot();
-    void perf_info_reset();
-    void perf_ignore_this_loop();
-    void perf_info_check_loop_time(uint32_t time_in_micros);
-    uint16_t perf_info_get_num_loops();
-    uint32_t perf_info_get_max_time();
-    uint32_t perf_info_get_min_time();
-    uint16_t perf_info_get_num_long_running();
-    uint32_t perf_info_get_num_dropped();
-    uint32_t perf_info_get_avg_time();
-    uint32_t perf_info_get_stddev_time();
     Vector3f pv_location_to_vector(const Location& loc);
     float pv_alt_above_origin(float alt_above_home_cm);
     float pv_alt_above_home(float alt_above_origin_cm);

ArduCopter/Log.cpp

@@ -208,13 +208,13 @@ void Copter::Log_Write_Performance()
     struct log_Performance pkt = {
         LOG_PACKET_HEADER_INIT(LOG_PERFORMANCE_MSG),
         time_us          : AP_HAL::micros64(),
-        num_long_running : perf_info_get_num_long_running(),
-        num_loops        : perf_info_get_num_loops(),
-        max_time         : perf_info_get_max_time(),
+        num_long_running : perf_info.get_num_long_running(),
+        num_loops        : perf_info.get_num_loops(),
+        max_time         : perf_info.get_max_time(),
         pm_test          : pmTest1,
         i2c_lockup_count : 0,
         ins_error_count  : ins.error_count(),
-        log_dropped      : DataFlash.num_dropped() - perf_info_get_num_dropped(),
+        log_dropped      : DataFlash.num_dropped() - perf_info.get_num_dropped(),
         hal.util->available_memory()
     };
     DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));

ArduCopter/motors.cpp

@@ -207,7 +207,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
     failsafe_enable();
 
     // perf monitor ignores delay due to arming
-    perf_ignore_this_loop();
+    perf_info.ignore_this_loop();
 
     // flag exiting this function
     in_arm_motors = false;