perf counter cleanup (mostly intervals)

Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.

src/drivers/dshot/dshot.cpp

@@ -220,7 +220,6 @@ class DShotOutput : public cdev::CDev, public ModuleBase<DShotOutput>, public Ou
 	bool		_outputs_initialized{false};
 
 	perf_counter_t	_cycle_perf;
-	perf_counter_t	_cycle_interval_perf;
 
 	void		capture_callback(uint32_t chan_index,
 					 hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
@@ -247,8 +246,7 @@ px4::atomic_bool DShotOutput::_request_telemetry_init{false};
 DShotOutput::DShotOutput() :
 	CDev("/dev/dshot"),
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
-	_cycle_perf(perf_alloc(PC_ELAPSED, "dshot: cycle")),
-	_cycle_interval_perf(perf_alloc(PC_INTERVAL, "dshot: cycle interval"))
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	_mixing_output.setAllDisarmedValues(DISARMED_VALUE);
 	_mixing_output.setAllMinValues(DISARMED_VALUE + 1);
@@ -265,7 +263,6 @@ DShotOutput::~DShotOutput()
 	unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
 
 	perf_free(_cycle_perf);
-	perf_free(_cycle_interval_perf);
 	delete _telemetry;
 }
 
@@ -756,7 +753,6 @@ DShotOutput::Run()
 	}
 
 	perf_begin(_cycle_perf);
-	perf_count(_cycle_interval_perf);
 
 	_mixing_output.update();
 
@@ -1667,7 +1663,6 @@ int DShotOutput::print_status()
 	PX4_INFO("Outputs initialized: %s", _outputs_initialized ? "yes" : "no");
 	PX4_INFO("Outputs on: %s", _outputs_on ? "yes" : "no");
 	perf_print_counter(_cycle_perf);
-	perf_print_counter(_cycle_interval_perf);
 	_mixing_output.printStatus();
 	if (_telemetry) {
 		PX4_INFO("telemetry on: %s", _telemetry_device);

src/drivers/px4fmu/fmu.cpp

@@ -187,7 +187,6 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>, public OutputModule
 	unsigned	_num_disarmed_set{0};
 
 	perf_counter_t	_cycle_perf;
-	perf_counter_t	_cycle_interval_perf;
 
 	void		capture_callback(uint32_t chan_index,
 					 hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
@@ -212,8 +211,7 @@ class PX4FMU : public cdev::CDev, public ModuleBase<PX4FMU>, public OutputModule
 PX4FMU::PX4FMU() :
 	CDev(PX4FMU_DEVICE_PATH),
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
-	_cycle_perf(perf_alloc(PC_ELAPSED, "px4fmu: cycle")),
-	_cycle_interval_perf(perf_alloc(PC_INTERVAL, "px4fmu: cycle interval"))
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
 {
 	_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
 	_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
@@ -229,7 +227,6 @@ PX4FMU::~PX4FMU()
 	unregister_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH, _class_instance);
 
 	perf_free(_cycle_perf);
-	perf_free(_cycle_interval_perf);
 }
 
 int
@@ -755,7 +752,6 @@ PX4FMU::Run()
 	}
 
 	perf_begin(_cycle_perf);
-	perf_count(_cycle_interval_perf);
 
 	_mixing_output.update();
 
@@ -2305,7 +2301,6 @@ int PX4FMU::print_status()
 	}
 
 	perf_print_counter(_cycle_perf);
-	perf_print_counter(_cycle_interval_perf);
 	_mixing_output.printStatus();
 
 	return 0;

src/drivers/rc_input/RCInput.cpp

@@ -46,7 +46,7 @@ constexpr char const *RCInput::RC_SCAN_STRING[];
 
 RCInput::RCInput(bool run_as_task, char *device) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
-	_publish_interval_perf(perf_alloc(PC_INTERVAL,  MODULE_NAME": publish interval"))
+	_publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval"))
 {
 	// rc input, published to ORB
 	_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;

src/lib/drivers/accelerometer/CMakeLists.txt

@@ -32,4 +32,8 @@
 ############################################################################
 
 px4_add_library(drivers_accelerometer PX4Accelerometer.cpp)
-target_link_libraries(drivers_accelerometer PRIVATE drivers__device)
+target_link_libraries(drivers_accelerometer
+	PRIVATE
+		drivers__device
+		mathlib
+	)

src/modules/ekf2/ekf2_main.cpp

@@ -171,8 +171,6 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams, public px4::Wor
 	uint64_t _start_time_us = 0;		///< system time at EKF start (uSec)
 	int64_t _last_time_slip_us = 0;		///< Last time slip (uSec)
 
-	perf_counter_t _cycle_perf;
-	perf_counter_t _interval_perf;
 	perf_counter_t _ekf_update_perf;
 
 	// Initialise time stamps used to send sensor data to the EKF and for logging
@@ -549,8 +547,6 @@ Ekf2::Ekf2(bool replay_mode):
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
 	_replay_mode(replay_mode),
-	_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time")),
-	_interval_perf(perf_alloc_once(PC_INTERVAL, MODULE_NAME": interval")),
 	_ekf_update_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": update")),
 	_params(_ekf.getParamHandle()),
 	_param_ekf2_min_obs_dt(_params->sensor_interval_min_ms),
@@ -656,8 +652,6 @@ Ekf2::Ekf2(bool replay_mode):
 
 Ekf2::~Ekf2()
 {
-	perf_free(_cycle_perf);
-	perf_free(_interval_perf);
 	perf_free(_ekf_update_perf);
 }
 
@@ -679,8 +673,6 @@ int Ekf2::print_status()
 
 	PX4_INFO("time slip: %" PRId64 " us", _last_time_slip_us);
 
-	perf_print_counter(_cycle_perf);
-	perf_print_counter(_interval_perf);
 	perf_print_counter(_ekf_update_perf);
 
 	return 0;
@@ -728,9 +720,6 @@ void Ekf2::Run()
 		return;
 	}
 
-	perf_begin(_cycle_perf);
-	perf_count(_interval_perf);
-
 	sensor_combined_s sensors;
 
 	if (_sensors_sub.update(&sensors)) {
@@ -1751,8 +1740,6 @@ void Ekf2::Run()
 		// publish ekf2_timestamps
 		_ekf2_timestamps_pub.publish(ekf2_timestamps);
 	}
-
-	perf_end(_cycle_perf);
 }
 
 int Ekf2::getRangeSubIndex()

src/modules/mc_pos_control/mc_pos_control_main.cpp

@@ -195,7 +195,6 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
 	WeatherVane *_wv_controller{nullptr};
 
 	perf_counter_t _cycle_perf;
-	perf_counter_t _interval_perf;
 
 	/**
 	 * Update our local parameter cache.
@@ -289,8 +288,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
 	_vel_y_deriv(this, "VELD"),
 	_vel_z_deriv(this, "VELD"),
 	_control(this),
-	_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time")),
-	_interval_perf(perf_alloc_once(PC_INTERVAL, MODULE_NAME": interval"))
+	_cycle_perf(perf_alloc_once(PC_ELAPSED, MODULE_NAME": cycle time"))
 {
 	// fetch initial parameter values
 	parameters_update(true);
@@ -306,7 +304,6 @@ MulticopterPositionControl::~MulticopterPositionControl()
 	}
 
 	perf_free(_cycle_perf);
-	perf_free(_interval_perf);
 }
 
 bool
@@ -515,7 +512,6 @@ MulticopterPositionControl::print_status()
 	}
 
 	perf_print_counter(_cycle_perf);
-	perf_print_counter(_interval_perf);
 
 	return 0;
 }
@@ -530,7 +526,6 @@ MulticopterPositionControl::Run()
 	}
 
 	perf_begin(_cycle_perf);
-	perf_count(_interval_perf);
 
 	if (_local_pos_sub.update(&_local_pos)) {
 

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp

@@ -40,18 +40,13 @@ using namespace time_literals;
 
 VehicleAcceleration::VehicleAcceleration() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl),
-	_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: cycle time")),
-	_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_acceleration: sensor latency"))
+	WorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
 {
 }
 
 VehicleAcceleration::~VehicleAcceleration()
 {
 	Stop();
-
-	perf_free(_cycle_perf);
-	perf_free(_sensor_latency_perf);
 }
 
 bool
@@ -175,16 +170,12 @@ VehicleAcceleration::ParametersUpdate(bool force)
 void
 VehicleAcceleration::Run()
 {
-	perf_begin(_cycle_perf);
-
 	// update corrections first to set _selected_sensor
 	SensorCorrectionsUpdate();
 
 	sensor_accel_s sensor_data;
 
 	if (_sensor_sub[_selected_sensor].update(&sensor_data)) {
-		perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
-
 		ParametersUpdate();
 		SensorBiasUpdate();
 
@@ -207,15 +198,10 @@ VehicleAcceleration::Run()
 
 		_vehicle_acceleration_pub.publish(out);
 	}
-
-	perf_end(_cycle_perf);
 }
 
 void
 VehicleAcceleration::PrintStatus()
 {
 	PX4_INFO("selected sensor: %d", _selected_sensor);
-
-	perf_print_counter(_cycle_perf);
-	perf_print_counter(_sensor_latency_perf);
 }

src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp

@@ -36,7 +36,6 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <lib/perf/perf_counter.h>
 #include <px4_config.h>
 #include <px4_log.h>
 #include <px4_module_params.h>
@@ -101,9 +100,6 @@ class VehicleAcceleration : public ModuleParams, public px4::WorkItem
 	matrix::Vector3f			_scale;
 	matrix::Vector3f			_bias;
 
-	perf_counter_t				_cycle_perf;
-	perf_counter_t				_sensor_latency_perf;
-
 	uint8_t					_selected_sensor{0};
 
 };

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -40,18 +40,13 @@ using namespace time_literals;
 
 VehicleAngularVelocity::VehicleAngularVelocity() :
 	ModuleParams(nullptr),
-	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
-	_cycle_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: cycle time")),
-	_sensor_latency_perf(perf_alloc(PC_ELAPSED, "vehicle_angular_velocity: sensor latency"))
+	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
 }
 
 VehicleAngularVelocity::~VehicleAngularVelocity()
 {
 	Stop();
-
-	perf_free(_cycle_perf);
-	perf_free(_sensor_latency_perf);
 }
 
 bool
@@ -214,8 +209,6 @@ VehicleAngularVelocity::ParametersUpdate(bool force)
 void
 VehicleAngularVelocity::Run()
 {
-	perf_begin(_cycle_perf);
-
 	// update corrections first to set _selected_sensor
 	SensorCorrectionsUpdate();
 
@@ -224,8 +217,6 @@ VehicleAngularVelocity::Run()
 		sensor_gyro_control_s sensor_data;
 
 		if (_sensor_control_sub[_selected_sensor].update(&sensor_data)) {
-			perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
-
 			ParametersUpdate();
 			SensorBiasUpdate();
 
@@ -251,8 +242,6 @@ VehicleAngularVelocity::Run()
 		sensor_gyro_s sensor_data;
 
 		if (_sensor_sub[_selected_sensor].update(&sensor_data)) {
-			perf_set_elapsed(_sensor_latency_perf, hrt_elapsed_time(&sensor_data.timestamp));
-
 			ParametersUpdate();
 			SensorBiasUpdate();
 
@@ -276,8 +265,6 @@ VehicleAngularVelocity::Run()
 			_vehicle_angular_velocity_pub.publish(angular_velocity);
 		}
 	}
-
-	perf_end(_cycle_perf);
 }
 
 void
@@ -291,7 +278,4 @@ VehicleAngularVelocity::PrintStatus()
 	} else {
 		PX4_WARN("sensor_gyro_control unavailable for selected sensor: %d (%d)", _selected_sensor_device_id,  _selected_sensor);
 	}
-
-	perf_print_counter(_cycle_perf);
-	perf_print_counter(_sensor_latency_perf);
 }

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -36,7 +36,6 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <lib/perf/perf_counter.h>
 #include <px4_config.h>
 #include <px4_log.h>
 #include <px4_module_params.h>
@@ -109,9 +108,6 @@ class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
 	matrix::Vector3f			_scale;
 	matrix::Vector3f			_bias;
 
-	perf_counter_t				_cycle_perf;
-	perf_counter_t				_sensor_latency_perf;
-
 	uint32_t				_selected_sensor_device_id{0};
 	uint8_t					_selected_sensor{0};
 	uint8_t					_selected_sensor_control{0};