AP_Scheduler: adjust debug levels

this is more useful for performance analysis of scheduler, using perf command
Yukong · May 1, 2017 · 56aa467 · 56aa467
1 parent 5c62e4f
commit 56aa467
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -93,7 +93,7 @@ void AP_Scheduler::run(uint32_t time_available)
     uint32_t run_started_usec = AP_HAL::micros();
     uint32_t now = run_started_usec;
 
-    if (_debug > 3 && _perf_counters == nullptr) {
+    if (_debug > 1 && _perf_counters == nullptr) {
         _perf_counters = new AP_HAL::Util::perf_counter_t[_num_tasks];
         if (_perf_counters != nullptr) {
             for (uint8_t i=0; i<_num_tasks; i++) {
@@ -114,7 +114,7 @@ void AP_Scheduler::run(uint32_t time_available)
 
             if (dt >= interval_ticks*2) {
                 // we've slipped a whole run of this task!
-                if (_debug > 1) {
+                if (_debug > 4) {
                     ::printf("Scheduler slip task[%u-%s] (%u/%u/%u)\n",
                              (unsigned)i,
                              _tasks[i].name,
@@ -128,11 +128,11 @@ void AP_Scheduler::run(uint32_t time_available)
                 // run it
                 _task_time_started = now;
                 current_task = i;
-                if (_debug > 3 && _perf_counters && _perf_counters[i]) {
+                if (_debug > 1 && _perf_counters && _perf_counters[i]) {
                     hal.util->perf_begin(_perf_counters[i]);
                 }
                 _tasks[i].function();
-                if (_debug > 3 && _perf_counters && _perf_counters[i]) {
+                if (_debug > 1 && _perf_counters && _perf_counters[i]) {
                     hal.util->perf_end(_perf_counters[i]);
                 }
                 current_task = -1;