Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY #13377
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nerdCopter
approved these changes
Feb 19, 2024
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Should these extra computations be encapsulated in an |
KarateBrot
requested changes
Feb 24, 2024
I thought about this and thought we should be logging real behaviour; ie enabling/disabling logging should have minimal impact on performance. Having thought about it some more the impact of logging here is worst case, so safe to exclude. I agree with your comment. |
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…M and TIMING_ACCURACY
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ctzsnooze
approved these changes
Feb 26, 2024
haslinghuis
approved these changes
Feb 26, 2024
KarateBrot
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Feb 26, 2024
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
Co-authored-by: Jan Post <Rm2k-Freak@web.de>
KarateBrot
approved these changes
Feb 26, 2024
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The SCHEDULER_DETERMINISM and TIMING_ACCURACY debug modes focus on task lateness. This PR adds a measure of the impact on the gyro loop timing by reporting the standard deviation in 100ths of a us in debug[7].
This log was taken from a ZEEZF7V3 and shows how, with USB connected at the start and end of the log, this figure was about 2us, however with USB disconnected (between 5 and 10 seconds in the log), the figure was about 30ns!
ZEEZF7V3_STDDEV.bbl.zip
@KarateBrot Please check the maths