update to eric comments

modalai · Dec 5, 2023 · 1733bf7 · 1733bf7
1 parent 833d704
commit 1733bf7
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Showing 7 changed files with 12 additions and 15 deletions.
diff --git a/msg/Cpuload.msg b/msg/Cpuload.msg
@@ -1,5 +1,5 @@
-char[5] platform     		# Platform running on (QURT, LINUX, NUTTX...)
-uint64 timestamp		# time since system start (microseconds)
-float32 process_load                    # processor load from 0 to 1
-float32 system_load  # processor load from 0 to 1 for entire CPU not just core 
-float32 ram_usage		# RAM usage from 0 to 1
+char[5] platform    # Platform running on (QURT, POSIX, NUTTX...)
+uint64 timestamp    # time since system start (microseconds)
+float32 process_load    # PX4 process load from 0.0 to 1.0
+float32 system_load     # System load for all processes from 0.0 to 1.0
+float32 ram_usage       # RAM usage from 0.0 to 1.0
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -2278,7 +2278,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
 		cpuload_s cpuload;
 
 		if (_cpuload_sub.copy(&cpuload)) {
-			const float cpuload_percent = cpuload.process_load * 100.f;
+			const float cpuload_percent = cpuload.system_load * 100.f;
 
 			bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f);
 

diff --git a/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp
@@ -60,7 +60,7 @@ void CpuResourceChecks::checkAndReport(const Context &context, Report &reporter)
 		}
 
 	} else {
-		const float cpuload_percent = cpuload.process_load * 100.f;
+		const float cpuload_percent = cpuload.system_load * 100.f;
 
 		if (cpuload_percent > _param_com_cpu_max.get()) {
 

diff --git a/src/modules/load_mon/CMakeLists.txt b/src/modules/load_mon/CMakeLists.txt
@@ -31,10 +31,6 @@
 #
 ############################################################################
 
-if ((${PX4_BOARD_NAME} MATCHES "MODALAI_VOXL2"))
-	add_definitions(-D__MULTICORE)
-endif()
-
 px4_add_module(
 	MODULE modules__load_mon
 	MAIN load_mon

diff --git a/src/modules/load_mon/LoadMon.cpp b/src/modules/load_mon/LoadMon.cpp
@@ -224,7 +224,7 @@ void LoadMon::cpuload()
 	}
 
 	cpuload.process_load = interval_spent_time / interval;
-#if defined(__MULTICORE)
+
     FILE *stat_file = fopen("/proc/stat", "r");
     if (!stat_file) {
 		PX4_ERR("Failed to open /proc/stat");
@@ -250,17 +250,19 @@ void LoadMon::cpuload()
 		float total_usage = (total - idle) / total;
 		cpuload.system_load = total_usage;
 	}
-#endif
+
 	strncpy(cpuload.platform, "POSIX", sizeof(cpuload.platform));
 #elif defined(__PX4_NUTTX)
 	// get ram usage
 	struct mallinfo mem = mallinfo();
 	cpuload.ram_usage = (float)mem.uordblks / mem.arena;
 	cpuload.process_load = 1.f - interval_idletime / interval;
+	cpuload.system_load = cpuload.process_load;
 	strncpy(cpuload.platform, "NUTTX", sizeof(cpuload.platform));
 #elif defined(__PX4_QURT)
 	cpuload.ram_usage = 0.0f;
 	cpuload.process_load = px4muorb_get_cpu_load() / 100.0f;
+	cpuload.system_load = cpuload.process_load;
 	strncpy(cpuload.platform, "QURT", sizeof(cpuload.platform));
 #endif
 	cpuload.timestamp = hrt_absolute_time();

diff --git a/src/modules/load_mon/LoadMon.hpp b/src/modules/load_mon/LoadMon.hpp
@@ -103,7 +103,6 @@ class LoadMon : public ModuleBase<LoadMon>, public ModuleParams, public px4::Sch
 	hrt_abstime _last_idle_time_sample{0};
 #endif
 
-
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 
 	DEFINE_PARAMETERS(

diff --git a/src/modules/mavlink/streams/SYS_STATUS.hpp b/src/modules/mavlink/streams/SYS_STATUS.hpp
@@ -155,7 +155,7 @@ class MavlinkStreamSysStatus : public MavlinkStream
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, health_component_t::differential_pressure,
 					 msg);
 
-			msg.load = cpuload.process_load * 1000.0f;
+			msg.load = cpuload.system_load * 1000.0f;
 
 			// TODO: Determine what data should be put here when there are multiple batteries.
 			//  Right now, it uses the lowest battery. This is a safety decision, because if a client is only checking
-Original file line number
+Diff line change
@@ Expand Up @@
     	hrt_abstime _last_idle_time_sample{0};
     #endif
     	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
     	DEFINE_PARAMETERS(
@@ Expand Down @@