GCS_MAVLink: make per channel perf counter non-static

Otherwise the perf counter from one channel may affect the other if
during an update of one channel the update function of the other gets
called.

libraries/GCS_MAVLink/GCS.h

@@ -361,9 +361,9 @@ private:
     uint8_t         stream_slowdown;
 
     // perf counters
-    static AP_HAL::Util::perf_counter_t _perf_packet;
-    static AP_HAL::Util::perf_counter_t _perf_update;
-            
+    AP_HAL::Util::perf_counter_t _perf_packet;
+    AP_HAL::Util::perf_counter_t _perf_update;
+
     // deferred message handling.  We size the deferred_message
     // ringbuffer so we can defer every message type
     enum ap_message deferred_messages[MSG_LAST];

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -23,6 +23,7 @@
 #include "AP_Common/AP_FWVersion.h"
 #include "GCS.h"
 
+#include <stdio.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
 #include <drivers/drv_pwm_output.h>
 #include <sys/types.h>
@@ -37,9 +38,6 @@ uint8_t GCS_MAVLINK::mavlink_active = 0;
 uint8_t GCS_MAVLINK::chan_is_streaming = 0;
 uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
 
-AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_packet;
-AP_HAL::Util::perf_counter_t GCS_MAVLINK::_perf_update;
-
 GCS *GCS::_singleton = nullptr;
 
 GCS_MAVLINK::GCS_MAVLINK()
@@ -61,12 +59,13 @@ GCS_MAVLINK::init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan)
     initialised = true;
     _queued_parameter = nullptr;
 
-    if (!_perf_packet) {
-        _perf_packet = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "GCS_Packet");
-    }
-    if (!_perf_update) {
-        _perf_update = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, "GCS_Update");
-    }
+    char perf_name[16];
+
+    snprintf(perf_name, sizeof(perf_name), "GCS_Packet_%u", chan);
+    _perf_packet = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, perf_name);
+
+    snprintf(perf_name, sizeof(perf_name), "GCS_Update_%u", chan);
+    _perf_update = hal.util->perf_alloc(AP_HAL::Util::PC_ELAPSED, perf_name);
 }