AP_HAL_ESP32: more scheduler stats to help trying to find why copter…

[davidbuzz]

… loops are slow

emits equivalent of tasks.txt to console after approx 2 minutes after boot.

eg:
TasksV2
AP_InertialSensor::update* MIN= 63 MAX= 979 AVG= 157 OVR= 0 SLP= 0, TOT= 3.4%
Copter::run_rate_controller* MIN= 148 MAX=1328 AVG= 247 OVR= 0 SLP= 0, TOT= 5.4%
Copter::motors_output* MIN= 294 MAX=1369 AVG= 327 OVR= 0 SLP= 0, TOT= 7.1%
Copter::read_AHRS* MIN=1237 MAX=6024 AVG=1991 OVR=389 SLP= 0, TOT=43.0%
Copter::read_inertia* MIN= 64 MAX= 980 AVG= 130 OVR= 0 SLP= 0, TOT= 2.8%
Copter::check_ekf_reset* MIN= 20 MAX= 925 AVG= 48 OVR= 0 SLP= 0, TOT= 1.1%
Copter::update_flight_mode* MIN= 397 MAX=1884 AVG= 665 OVR= 0 SLP= 0, TOT=14.4%
Copter::update_home_from_EKF* MIN= 10 MAX=1007 AVG= 21 OVR= 0 SLP= 0, TOT= 0.4%
Copter::update_land_and_crash_de MIN= 45 MAX=1045 AVG= 63 OVR= 0 SLP= 0, TOT= 1.4%
Copter::update_rangefinder_terra MIN= 12 MAX=1015 AVG= 22 OVR= 0 SLP= 0, TOT= 0.5%
Copter::Log_Video_Stabilisation* MIN= 17 MAX=1038 AVG= 33 OVR= 0 SLP= 0, TOT= 0.7%
Copter::rc_loop MIN= 57 MAX=1203 AVG= 90 OVR= 0 SLP= 0, TOT= 2.0%
Copter::throttle_loop MIN= 47 MAX=1105 AVG= 92 OVR= 23 SLP= 0, TOT= 0.2%
AP_GPS::update MIN= 87 MAX=1505 AVG= 195 OVR= 56 SLP= 0, TOT= 0.5%
Copter::update_batt_compass MIN= 68 MAX=1073 AVG= 160 OVR= 11 SLP= 0, TOT= 0.1%
RC_Channels::read_aux_all MIN= 15 MAX= 178 AVG= 21 OVR= 1 SLP= 0, TOT= 0.0%
Copter::arm_motors_check MIN= 14 MAX=1001 AVG= 67 OVR= 3 SLP= 0, TOT= 0.0%
Copter::auto_disarm_check MIN= 7 MAX= 19 AVG= 8 OVR= 0 SLP= 0, TOT= 0.0%
Copter::auto_trim MIN= 7 MAX= 154 AVG= 14 OVR= 2 SLP= 0, TOT= 0.0%
Copter::read_rangefinder MIN= 56 MAX=1052 AVG= 126 OVR= 12 SLP= 0, TOT= 0.1%
AP_Proximity::update MIN= 10 MAX=1075 AVG= 54 OVR= 50 SLP= 0, TOT= 0.5%
AP_Beacon::update MIN= 10 MAX=1084 AVG= 41 OVR=162 SLP= 0, TOT= 0.8%
Copter::update_altitude MIN= 165 MAX=1479 AVG= 310 OVR= 45 SLP= 0, TOT= 0.1%
Copter::run_nav_updates MIN= 9 MAX=1065 AVG= 19 OVR= 4 SLP= 0, TOT= 0.1%
Copter::update_throttle_hover MIN= 6 MAX= 992 AVG= 18 OVR= 8 SLP= 0, TOT= 0.1%
ModeSmartRTL::save_position MIN= 13 MAX= 43 AVG= 32 OVR= 0 SLP= 0, TOT= 0.0%
AC_Sprayer::update MIN= 10 MAX= 11 AVG= 10 OVR= 0 SLP= 0, TOT= 0.0%
Copter::three_hz_loop MIN= 31 MAX= 35 AVG= 33 OVR= 0 SLP= 0, TOT= 0.0%
AP_ServoRelayEvents::update_even MIN= 7 MAX=1022 AVG= 23 OVR= 7 SLP= 0, TOT= 0.1%
AP_Baro::accumulate MIN= 8 MAX= 149 AVG= 11 OVR= 2 SLP= 0, TOT= 0.0%
Copter::update_precland MIN= 11 MAX=1083 AVG= 38 OVR=162 SLP= 0, TOT= 0.7%
Copter::loop_rate_logging MIN= 9 MAX=1041 AVG= 17 OVR=119 SLP= 0, TOT= 0.3%
Compass::cal_update MIN= 16 MAX= 995 AVG= 31 OVR= 7 SLP= 0, TOT= 0.1%
AP_Notify::update MIN= 6 MAX= 627 AVG= 13 OVR= 1 SLP= 0, TOT= 0.0%
Copter::one_hz_loop MIN= 187 MAX= 663 AVG= 284 OVR= 5 SLP= 0, TOT= 0.0%
Copter::ekf_check MIN= 11 MAX=1056 AVG= 60 OVR= 3 SLP= 0, TOT= 0.0%
Copter::check_vibration MIN= 48 MAX=1031 AVG= 104 OVR= 26 SLP= 0, TOT= 0.1%
Copter::gpsglitch_check MIN= 13 MAX= 179 AVG= 23 OVR= 1 SLP= 0, TOT= 0.0%
Copter::takeoff_check MIN= 3 MAX= 164 AVG= 11 OVR= 2 SLP= 0, TOT= 0.0%
Copter::standby_update MIN= 6 MAX= 318 AVG= 16 OVR= 9 SLP= 0, TOT= 0.1%
Copter::lost_vehicle_check MIN= 17 MAX= 960 AVG= 40 OVR= 1 SLP= 0, TOT= 0.0%
GCS::update_receive MIN= 90 MAX=2048 AVG= 201 OVR=442 SLP= 0, TOT= 4.1%
GCS::update_send MIN= 157 MAX=1688 AVG= 379 OVR=705 SLP= 0, TOT= 5.9%
Copter::ten_hz_logging_loop MIN= 456 MAX=1654 AVG= 631 OVR= 45 SLP= 0, TOT= 0.3%
Copter::twentyfive_hz_logging MIN= 14 MAX= 370 AVG= 32 OVR= 5 SLP= 0, TOT= 0.0%
AP_Logger::periodic_tasks MIN= 74 MAX=1142 AVG= 125 OVR=447 SLP= 0, TOT= 2.2%
AP_InertialSensor::periodic MIN= 5 MAX= 357 AVG= 12 OVR=133 SLP= 0, TOT= 0.2%
AP_Scheduler::update_logging MIN= 23 MAX= 23 AVG= 23 OVR= 0 SLP= 0, TOT= 0.0%
AP_TempCalibration::update MIN= 6 MAX= 8 AVG= 6 OVR= 0 SLP= 0, TOT= 0.0%
AP_Winch::update MIN= 9 MAX= 29 AVG= 13 OVR= 0 SLP= 0, TOT= 0.0%
AP_Stats::update MIN= 26 MAX= 31 AVG= 28 OVR= 0 SLP= 0, TOT= 0.0%
AP_NMEA_Output::update MIN= 5 MAX= 338 AVG= 10 OVR= 2 SLP= 0, TOT= 0.0%
AP_RunCam::update MIN= 5 MAX= 128 AVG= 6 OVR= 1 SLP= 0, TOT= 0.0%
AP_Vehicle::update_dynamic_notch MIN= 10 MAX=1020 AVG= 22 OVR=299 SLP= 0, TOT= 0.4%
AP_VideoTX::update MIN= 5 MAX= 7 AVG= 6 OVR= 0 SLP= 0, TOT= 0.0%
AP_Tramp::update MIN= 7 MAX= 944 AVG= 17 OVR= 5 SLP= 0, TOT= 0.0%
AP_Vehicle::send_watchdog_reset_ MIN= 9 MAX= 9 AVG= 9 OVR= 0 SLP= 0, TOT= 0.0%
AP_Vehicle::publish_osd_info MIN= 37 MAX= 41 AVG= 39 OVR= 5 SLP= 0, TOT= 0.0%
AP_TemperatureSensor::update MIN= 6 MAX= 16 AVG= 8 OVR= 0 SLP= 0, TOT= 0.0%
AP_Vehicle::accel_cal_update MIN= 16 MAX= 27 AVG= 19 OVR= 0 SLP= 0, TOT= 0.0%
AP_AIS::update MIN= 7 MAX= 16 AVG= 9 OVR= 0 SLP= 0, TOT= 0.0%
AP_EFI::update MIN= 4 MAX= 152 AVG= 9 OVR= 0 SLP= 0, TOT= 0.0%
AP_Vehicle::one_Hz_update MIN= 13 MAX= 130 AVG= 37 OVR= 1 SLP= 0, TOT= 0.0%
AP_Filters::update MIN= 9 MAX= 10 AVG= 9 OVR= 0 SLP= 0, TOT= 0.0%
AP_Vehicle::update_arming MIN= 79 MAX= 83 AVG= 81 OVR= 5 SLP= 0, TOT= 0.0%

loop_rate: actual: 161Hz, expected: 400Hz

[davidbuzz]

Old