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 (all times are given in microseconds):

periodic_time 
time between two calls of the main periodic function (averaged over 1s)
periodic_cycle 
time it took to execute the main periodic functions (averaged over 1s)
periodic_cycle_min 
minimum time it took to execute the main periodic functions during the last second
periodic_cycle_max 
maximum time 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>