Module/System monitor
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The sys_mon module gives you some information about the timing of the periodic tasks and a rough estimate of cpu load (averaged over 1 sec).
The SYS_MON message contains the following information:
- periodic_time
- time in us between two calls of the main periodic function (averaged over 1s)
- periodic_cycle
- time in us it took to execute the main periodic functions (averaged over 1s)
- periodic_cycle_min
- minimum time in us it took to execute the main periodic functions during the last second
- periodic_cycle_max
- maximum time in us it took to execute the main periodic functions during the last second
- event_number
- number of times the event loop was called during the last second
- cpu_load
- rough estimate of cpu load (averaged over 1 sec)
So your periodic_time should be 1/PERIODIC_FREQUENCY.
The periodic_cycle_max should not be over the periodic_time, otherwise in at least one cycle it took longer to calculate everything and the next one was slightly delayed.
The sys_mon module has to run at the full main frequency!
So either don't specify a main_freq parameter like in the example below or set your actual main frequency
To use it load the sys_mon module:
| File: conf/airframes/myplane.xml |
<modules>
...
<load name="sys_mon.xml"/>
</modules>
|