tools/mavlogdump.py ~/Downloads/arthur-3dr.tlog
name ncall tsub ttot tavg ..vutil.py:301 mavlogfile.recv_match 26880 0.065494 2.816088 0.000105 ..mavutil.py:281 mavlogfile.recv_msg 26880 0.189414 2.731705 0.000102 ..lotmega.py:4776 MAVLink.parse_char 53758 0.311195 1.747652 0.000033 * some extra cost ..dupilotmega.py:4834 MAVLink.decode 26879 0.582442 1.289703 0.000048 * VERY EXPENSIVE - called from parse_char - most of the parse_char cost ..til.py:952 mavlogfile.post_message 26879 0.121017 0.395777 0.000015 * calls superclass and little else ..erator/mavcrc.py:6 x25crc.__init__ 26879 0.053591 0.326831 0.000012 .. MAVLink_heartbeat_message.__str__ 26879 0.240268 0.296173 0.000011 * IGNORE ME - only used because we are doing log printing ..til.py:209 mavlogfile.post_message 26879 0.215464 0.267857 0.000010 * called from recv_msg - slight expnsive ..tor/mavcrc.py:14 x25crc.accumulate 26879 0.252346 0.252346 0.000009 ..util.py:924 mavlogfile.pre_message 26880 0.163922 0.246008 0.000009 * called from recv_msg - slight expensive - reads the 8 byte timestamp
approximate this in the C++ code
mavlink_map = {
MAVLINK_MSG_ID_SENSOR_OFFSETS : ( '<fiiffffffhhh', MAVLink_sensor_offsets_message, [9, 10, 11, 0, 1, 2, 3, 4, 5, 6, 7, 8], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], 134 ),
MAVLINK_MSG_ID_SET_MAG_OFFSETS : ( '<hhhBB', MAVLink_set_mag_offsets_message, [3, 4, 0, 1, 2], [1, 1, 1, 1, 1], 219 ),
MAVLINK_MSG_ID_MEMINFO : ( '<HH', MAVLink_meminfo_message, [0, 1], [1, 1], 208 ),
and for each msg (example):
class MAVLink_meminfo_message(MAVLink_message):
'''
state of APM memory
'''
def __init__(self, brkval, freemem):
MAVLink_message.__init__(self, MAVLINK_MSG_ID_MEMINFO, 'MEMINFO')
self._fieldnames = ['brkval', 'freemem']
self.brkval = brkval
self.freemem = freemem
def pack(self, mav):
return MAVLink_message.pack(self, mav, 208, struct.pack('<HH', self.brkval, self.freemem))
- option1: preinit the dict superclass - this avoids having to do hashtable based lookup in my custom c++ code
- option2: don't init anything, and then lazily do the creation in getattr for each attribute fetch (need smarter lookup but * less cycles)
- option3: hybrid - preinit the 'standard' attributes (msgId), but on the first call of getattr to handle missing attributes just statically init the remainder. I bet this will work best, because most packets we don't ever look at the non std attrs
TODO: look at existing C++ code but probably do something different TODO: Probably inherit from MAVLink_Packet so that most of the behavior can stay in python.
- Have the constructor iterate through the byte buf and create attributes by reading out, int, float, etc... (if doing preinit of the dict)
- This is simpler
- Have default constructor just create the attributes, but not init them
- let python user set attributes as needed.
- Have custom pack() C++ method return the proper buffer representation
Create a message decoding 'dict': static const mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
Call mavlink_parse_char to build up a mavlink_r_message:
* #include // For fixed-width uint8_t type
*
* mavlink_message_t msg;
* int chan = 0;
*
*
* while(serial.bytesAvailable > 0)
* {
* uint8_t byte = serial.getNextByte();
* if (mavlink_parse_char(chan, byte, &msg))
* {
* printf("Received message with ID %d, sequence: %d from component %d of system %d", msg.msgid, msg.seq, msg.compid, msg.sysid);
* }
* }
*
Once we have a message, look it up in the array to find the the mavlink_message_info_t for that message, then based on the metadata, construct python attributes.
- use faster buffer version for mavudp
- add an island so the native code can be compared 1:1 to the python code it replaced
- have mavudp delegate file descriptor work to the native code
- support using both the native and the legacy version for parsing - simultaneously - then compare the resulting packets
- Test performance (it better be good!)
- Test on a large corpus (for correctness)
- lazily expand fields
- properly select dialect in native code (by using python to build the datastructure)
- remove link module because it contains expensive logging
- Use enums rather than strings in mavproxy msgid checks - http://stackoverflow.com/questions/36932/how-can-i-represent-an-enum-in-python - backported to python 2.7
- Pass in a file descriptor to the native code and have the native code to the read from the socket (to prevent string buffer thrash in python)
kevinh@kevin-think:~/development/drone/MAVProxy$ mavproxy.py --master=/dev/ttyUSB0,921600 --profile --daemon --rtscts --streamrate=10
Logging to mav.tlog
Running script /home/kevinh/.mavinit.scr
-> set moddebug 2
-> module load droneapi.module.api
Traceback (most recent call last):
File "/home/kevinh/development/drone/MAVProxy/MAVProxy/mavproxy.py", line 258, in load_module
m = import_package(modpath)
File "/home/kevinh/development/drone/MAVProxy/MAVProxy/mavproxy.py", line 388, in import_package
mod = __import__(name)
ImportError: No module named mavproxy_droneapi.module.api
DroneAPI loaded
Loaded module droneapi.module.api
==
RTL> Mode RTL
APM: ArduPlane V3.2.1beta1 (5d8cec23)
APM: PX4: a55016a5 NuttX: 29c0c2d1
APM: PX4v2 00270030 31334705 39343031
Received 501 parameters
Received 5001 packets, exiting.
Clock type: CPU
Ordered by: totaltime, desc
name ncall tsub ttot tavg
..hon2.7/threading.py:752 Thread.run 1 0.000014 4.704702 4.704702
..MAVProxy/mavproxy.py:668 main_loop 1 0.148322 4.704688 4.704688
..oxy/mavproxy.py:467 process_master 2230 0.106122 3.331476 0.001494
..tmega.py:4853 MAVLink.parse_buffer 2230 0.025888 2.904772 0.001303
..lotmega.py:4797 MAVLink.parse_char 7268 0.101678 2.884868 0.000397
...py:230 LinkModule.master_callback 5020 0.648876 1.828274 0.000364
..y:4816 MAVLink.__parse_char_legacy 7268 0.128932 0.928525 0.000128
..b/python2.7/Queue.py:150 Queue.get 723.. 0.093533 0.911841 0.000126
..oxy/mavproxy.py:633 periodic_tasks 3623 0.310035 0.891220 0.000246
..dupilotmega.py:4866 MAVLink.decode 4982 0.310308 0.755680 0.000152
..7/threading.py:309 _Condition.wait 202.. 0.049515 0.638879 0.000315
..mp_module.py:83 ParamModule.master 13853 0.034549 0.323765 0.000023
..b/python2.7/Queue.py:107 Queue.put 7239 0.085365 0.298929 0.000041
..oxy/mavproxy.py:186 MPState.master 13853 0.215463 0.289215 0.000021
..erator/mavcrc.py:6 x25crc.__init__ 5038 0.031074 0.231349 0.000046
../python2.7/Queue.py:93 Queue.empty 13017 0.087733 0.227951 0.000018
..threading.py:373 _Condition.notify 14479 0.095959 0.224445 0.000016
..tor/mavcrc.py:14 x25crc.accumulate 5094 0.191064 0.191064 0.000038
..link/mavutil.py:723 mavserial.recv 2323 0.014487 0.190236 0.000082
..ial/serialposix.py:453 Serial.read 2323 0.069070 0.175750 0.000076
...py:228 ParamModule.mavlink_packet 4981 0.026377 0.167079 0.000034
..param.py:232 ParamModule.idle_task 3623 0.034717 0.156514 0.000043
..util.py:209 mavserial.post_message 10002 0.122832 0.152659 0.000015
..py:66 TerrainModule.mavlink_packet 4981 0.024035 0.137567 0.000028
..til.py:1055 periodic_event.trigger 26720 0.095814 0.116966 0.000004
..ings.py:104 MPSettings.__getattr__ 73492 0.116649 0.116649 0.000002
..eading.py:300 _Condition._is_owned 16506 0.051255 0.105568 0.000006
..pi.py:396 APIModule.mavlink_packet 4981 0.048153 0.086538 0.000017
../mp_module.py:43 LinkModule.module 25361 0.053013 0.077772 0.000003
..y/mavproxy.py:595 set_stream_rates 3624 0.046451 0.068940 0.000019
..ython2.7/Queue.py:200 Queue._qsize 22282 0.045132 0.063920 0.000003
..py:92 BatteryModule.mavlink_packet 4981 0.027293 0.063914 0.000013
..proxy_wp.py:105 WPModule.idle_task 3623 0.026155 0.063715 0.000018
..MAVLink_heartbeat_message.get_type 86238 0.060589 0.060589 0.000001
..MAVLink_heartbeat_message.__init__ 5029 0.035314 0.046238 0.000009
.._rally.py:45 RallyModule.idle_task 3623 0.016176 0.035683 0.000010
.._fence.py:50 FenceModule.idle_task 3623 0.013565 0.032660 0.000009
..xy_link.py:49 LinkModule.idle_task 3623 0.013176 0.030144 0.000008
..param.py:43 ParamState.fetch_check 3623 0.011797 0.028566 0.000008
..e.py:59 FenceModule.mavlink_packet 4981 0.021389 0.028209 0.000006
..le.py:36 LinkModule.mavlink_packet 49810 0.028185 0.028185 0.000001
../mp_module.py:51 LinkModule.status 31119 0.028002 0.028002 0.000001
..xy_link.py:173 LinkModule.get_usec 5009 0.023477 0.027273 0.000005
..log.py:25 LogModule.mavlink_packet 4981 0.018300 0.024982 0.000005
..oxy/mavproxy.py:180 MPState.module 25361 0.024758 0.024758 0.000001
../python2.7/Queue.py:204 Queue._put 7239 0.019392 0.024693 0.000003
..py:297 _Condition._acquire_restore 2027 0.007323 0.023292 0.000011
..3 ParamState.handle_mavlink_packet 4981 0.016644 0.022854 0.000005
..vproxy_rc.py:21 RCModule.idle_task 3623 0.009156 0.021508 0.000006
../python2.7/Queue.py:208 Queue._get 7239 0.014906 0.019359 0.000003
..module.py:26 RelayModule.idle_task 32607 0.018928 0.018928 0.000001
..mega.py:41 MAVLink_header.__init__ 10066 0.018874 0.018874 0.000002
..y_wp.py:55 WPModule.mavlink_packet 4981 0.015244 0.018332 0.000004
..VLink_heartbeat_message.get_msgbuf 5009 0.014025 0.017612 0.000004
..on2.7/threading.py:64 Thread._note 16508 0.017393 0.017393 0.000001
...py:211 LinkModule.report_altitude 215 0.007073 0.015868 0.000074
...py:253 RallyModule.mavlink_packet 4981 0.011805 0.015075 0.000003
..5 LinkModule.handle_msec_timestamp 1291 0.011214 0.014540 0.000011
..e/api.py:383 APIModule.__on_change 1012 0.005797 0.012058 0.000012
..oxy/mavproxy.py:624 send_heartbeat 25 0.000246 0.011524 0.000461
..il.py:344 mavserial.wait_heartbeat 1 0.000007 0.011281 0.011281
..avutil.py:301 mavserial.recv_match 1 0.000130 0.011274 0.011274
..ega.py:6034 MAVLink.heartbeat_send 25 0.000225 0.011222 0.000449
../mavutil.py:281 mavserial.recv_msg 56 0.000408 0.011126 0.000199
..ardupilotmega.py:4771 MAVLink.send 28 0.000488 0.007685 0.000274
..ng.py:294 _Condition._release_save 2027 0.004717 0.006545 0.000003
...py:179 MPVehicle.notify_observers 1688 0.004762 0.006260 0.000004
..1931 MAVLink_ahrs_message.__init__ 216 0.003039 0.006175 0.000029
..ilotmega.py:4710 MAVString.__str__ 1506 0.003689 0.005909 0.000004
..y_misc.py:193 MiscModule.idle_task 3623 0.005691 0.005691 0.000002
..0 CalibrationModule.mavlink_packet 4981 0.005683 0.005683 0.000001
..pi.py:457 APIModule.send_to_server 4981 0.005340 0.005340 0.000001
..339 MAVLink_heartbeat_message.pack 50 0.000380 0.005312 0.000106
..112 MAVLink_heartbeat_message.pack 56 0.001190 0.005247 0.000094
..obal_position_int_message.__init__ 215 0.002468 0.005116 0.000024
..7 MAVLink_raw_imu_message.__init__ 215 0.002549 0.005107 0.000024
..AVLink_sys_status_message.__init__ 215 0.002957 0.005092 0.000024
...py:50 CalibrationModule.idle_task 3623 0.004973 0.004973 0.000001
..py:37 BatteryModule.battery_report 116 0.002996 0.004970 0.000043
..nk_rc_channels_raw_message.get_seq 4981 0.004868 0.004868 0.000001
..:85 MAVLink_bad_data.get_srcSystem 5088 0.004732 0.004732 0.000001
.. MAVLink_attitude_message.__init__ 215 0.002187 0.004565 0.000021
.. MAVLink_bad_data.get_srcComponent 5107 0.004483 0.004483 0.000001
..ule.py:67 ParamModule.vehicle_name 3623 0.004366 0.004366 0.000001
..ain.py:134 TerrainModule.idle_task 3623 0.004308 0.004308 0.000001
..VLink_scaled_imu2_message.__init__ 215 0.002081 0.004183 0.000019
..VLink_param_value_message.__init__ 501 0.001760 0.004106 0.000008
..oxy_log.py:182 LogModule.idle_task 3623 0.004067 0.004067 0.000001
.. MAVLink_hwstatus_message.__init__ 216 0.001663 0.004009 0.000019
..a.py:6014 MAVLink.heartbeat_encode 25 0.000242 0.003993 0.000160
..nk_terrain_report_message.__init__ 216 0.001896 0.003963 0.000018
..VLink_system_time_message.__init__ 216 0.001805 0.003872 0.000018
..hon/droneapi/module/api.py:432 set 1720 0.003820 0.003820 0.000002
..2023 MAVLink_wind_message.__init__ 216 0.001702 0.003809 0.000018
..k_rc_channels_raw_message.__init__ 215 0.001931 0.003793 0.000018
.._servo_output_raw_message.__init__ 215 0.002008 0.003733 0.000017
..184 MAVLink_ahrs2_message.__init__ 215 0.001843 0.003704 0.000017
..controller_output_message.__init__ 215 0.001831 0.003602 0.000017
..2 MAVLink_vfr_hud_message.__init__ 216 0.001729 0.003553 0.000016
..Link_mount_status_message.__init__ 216 0.001839 0.003510 0.000016
..k_scaled_pressure_message.__init__ 215 0.001599 0.003448 0.000016
..Link_power_status_message.__init__ 215 0.001504 0.003442 0.000016
..k_mission_current_message.__init__ 215 0.001310 0.003326 0.000015
..9 MAVLink_meminfo_message.__init__ 215 0.001377 0.003237 0.000015
..py:83 BatteryModule.battery_update 215 0.002409 0.003181 0.000015
..mavcrc.py:23 x25crc.accumulate_str 112 0.001762 0.003164 0.000028
..ink/mavutil.py:733 mavserial.write 28 0.000145 0.002810 0.000100
..al/serialposix.py:488 Serial.write 28 0.000499 0.002665 0.000095
..VLink_gps_raw_int_message.__init__ 121 0.001176 0.002281 0.000019
..77 LinkModule.master_send_callback 28 0.000731 0.002135 0.000076
...py:98 BatteryModule.get_mav_param 116 0.000591 0.001403 0.000012
..MAVLink_heartbeat_message.__init__ 54 0.000475 0.001048 0.000019
..lotmega.py:4708 MAVString.__init__ 504 0.000895 0.000895 0.000002
..roxy/mavproxy.py:202 get_mav_param 116 0.000547 0.000812 0.000007
..module.py:47 BatteryModule.console 546 0.000693 0.000693 0.000001
..9 MAVLink.request_data_stream_send 2 0.000018 0.000665 0.000333
..odule.py:59 BatteryModule.settings 546 0.000641 0.000641 0.000001
..l.py:348 mavserial.param_fetch_all 1 0.000026 0.000528 0.000528
..45 MAVLink.param_request_list_send 1 0.000018 0.000496 0.000496
..tconsole.py:15 SimpleConsole.write 8 0.000055 0.000388 0.000048
..n2.7/threading.py:726 Thread.start 1 0.000021 0.000379 0.000379
..k_request_data_stream_message.pack 4 0.000025 0.000368 0.000092
..onsole.py:23 SimpleConsole.writeln 4 0.000021 0.000366 0.000091
..nk_sensor_offsets_message.__init__ 20 0.000205 0.000355 0.000018
..on2.7/threading.py:603 _Event.wait 1 0.000026 0.000315 0.000315
..MAVLink.request_data_stream_encode 2 0.000018 0.000273 0.000137
..link/mavutil.py:1081 all_printable 39 0.000069 0.000264 0.000007
..ilotmega.py:48 MAVLink_header.pack 56 0.000158 0.000263 0.000005
..nk/mavutil.py:1306 mode_string_v10 29 0.000247 0.000247 0.000009
..ole.py:29 SimpleConsole.set_status 331 0.000237 0.000237 0.000001
..nk_param_request_list_message.pack 2 0.000015 0.000217 0.000109
..vlink/mavutil.py:1070 is_printable 39 0.000048 0.000195 0.000005
.. MAVLink.param_request_list_encode 1 0.000021 0.000172 0.000172
..thon2.7/curses/ascii.py:62 isprint 39 0.000055 0.000147 0.000004
...py:4720 MAVLink_bad_data.__init__ 20 0.000052 0.000132 0.000007
..tmega.py:4781 MAVLink.bytes_needed 93 0.000088 0.000113 0.000001
..7/threading.py:656 Thread.__init__ 1 0.000024 0.000097 0.000097
..python2.7/curses/ascii.py:48 _ctoi 58 0.000075 0.000093 0.000002
..s/serial/serialutil.py:65 to_bytes 28 0.000071 0.000090 0.000003
..util.py:642 mavserial.motors_armed 29 0.000084 0.000084 0.000003
..avutil.py:365 mavserial.time_since 12 0.000063 0.000072 0.000006
../mavproxy.py:613 check_link_status 8 0.000064 0.000070 0.000009
..AVLink_statustext_message.__init__ 3 0.000022 0.000056 0.000019
..mavutil.py:332 mavserial.mavlink10 25 0.000055 0.000055 0.000002
..b/python2.7/threading.py:542 Event 1 0.000006 0.000041 0.000041
..link/mavwp.py:31 MAVWPLoader.count 12 0.000031 0.000039 0.000003
..thon2.7/threading.py:242 Condition 2 0.000012 0.000038 0.000019
..7/threading.py:561 _Event.__init__ 1 0.000007 0.000035 0.000035
..2.7/threading.py:866 Thread.__stop 1 0.000010 0.000034 0.000034
..157 mavserial.auto_mavlink_version 4 0.000027 0.000030 0.000008
..quest_data_stream_message.__init__ 2 0.000012 0.000028 0.000014
..reading.py:260 _Condition.__init__ 2 0.000024 0.000025 0.000013
..lib/mp_module.py:95 LinkModule.say 1 0.000004 0.000024 0.000024
..aram_request_list_message.__init__ 1 0.000007 0.000023 0.000023
..eading.py:400 _Condition.notifyAll 1 0.000003 0.000020 0.000020
..y/MAVProxy/mavproxy.py:90 say_text 1 0.000004 0.000019 0.000019
..hreading.py:709 Thread._set_daemon 1 0.000011 0.000018 0.000018
..vutil.py:201 mavserial.pre_message 56 0.000014 0.000014 0.000000
...7/threading.py:1024 Thread.daemon 1 0.000006 0.000007 0.000007
..s/lib/rline.py:28 rline.set_prompt 1 0.000003 0.000006 0.000006
..ilotmega.py:4702 MAVError.__init__ 1 0.000005 0.000005 0.000005
...7/threading.py:59 Thread.__init__ 4 0.000004 0.000004 0.000001
..reading.py:1008 _MainThread.daemon 1 0.000003 0.000003 0.000003
...7/threading.py:1152 currentThread 1 0.000003 0.000003 0.000003
..n2.7/threading.py:570 _Event.isSet 2 0.000001 0.000001 0.000001
..k/mavutil.py:61 evaluate_condition 1 0.000001 0.000001 0.000001
name tid ttot scnt
Thread 140217623496448 0.560475 3721
_MainThread 140218199156544 0.054530 244
Thread 140217926276864 0.054471 3592
kevinh@kevin-think:~/development/drone$ mavproxy.py --master=/dev/ttyUSB0,921600 --profile --daemon --rtscts --streamrate=10
FIXME - using native code - remove this string
Logging to mav.tlog
Running script /home/kevinh/.mavinit.scr
-> set moddebug 2
-> module load droneapi.module.api
Traceback (most recent call last):
File "/home/kevinh/development/drone/MAVProxy/MAVProxy/mavproxy.py", line 258, in load_module
m = import_package(modpath)
File "/home/kevinh/development/drone/MAVProxy/MAVProxy/mavproxy.py", line 388, in import_package
mod = __import__(name)
ImportError: No module named mavproxy_droneapi.module.api
DroneAPI loaded
Loaded module droneapi.module.api
RTL> Mode RTL
APM: ArduPlane V3.2.1beta1 (5d8cec23)
APM: PX4: a55016a5 NuttX: 29c0c2d1
APM: PX4v2 00270030 31334705 39343031
Received 501 parameters
Received 5001 packets, exiting.
Clock type: CPU
Ordered by: totaltime, desc
name ncall tsub ttot tavg
..hon2.7/threading.py:752 Thread.run 1 0.000015 4.049905 4.049905
..MAVProxy/mavproxy.py:668 main_loop 1 0.171051 4.049889 4.049889
..oxy/mavproxy.py:467 process_master 2246 0.101324 2.531932 0.001127
..tmega.py:4853 MAVLink.parse_buffer 2246 0.025571 2.096009 0.000933
..lotmega.py:4797 MAVLink.parse_char 7318 0.100779 2.077796 0.000284
...py:230 LinkModule.master_callback 5001 0.630832 1.777345 0.000355
..oxy/mavproxy.py:633 periodic_tasks 3933 0.338318 0.974033 0.000248
..b/python2.7/Queue.py:150 Queue.get 727.. 0.090511 0.794078 0.000109
..7/threading.py:309 _Condition.wait 192.. 0.045756 0.531229 0.000276
..mp_module.py:83 ParamModule.master 14217 0.034173 0.311258 0.000022
..b/python2.7/Queue.py:107 Queue.put 7276 0.085233 0.300662 0.000041
..oxy/mavproxy.py:186 MPState.master 14217 0.208290 0.277085 0.000019
../python2.7/Queue.py:93 Queue.empty 13329 0.091700 0.229291 0.000017
..threading.py:373 _Condition.notify 14553 0.095971 0.223572 0.000015
..link/mavutil.py:723 mavserial.recv 2380 0.014953 0.206667 0.000087
..ial/serialposix.py:453 Serial.read 2380 0.075817 0.191714 0.000081
..y:4792 MAVLink.__parse_char_native 7318 0.022241 0.168464 0.000023
..param.py:232 ParamModule.idle_task 3933 0.040023 0.167096 0.000042
...py:228 ParamModule.mavlink_packet 5001 0.025834 0.153906 0.000031
..util.py:209 mavserial.post_message 10002 0.119709 0.146667 0.000015
..py:66 TerrainModule.mavlink_packet 5001 0.022547 0.128143 0.000026
..til.py:1055 periodic_event.trigger 28600 0.100941 0.125085 0.000004
..ings.py:104 MPSettings.__getattr__ 76450 0.110085 0.110085 0.000001
..eading.py:300 _Condition._is_owned 16475 0.049225 0.104247 0.000006
..pi.py:396 APIModule.mavlink_packet 5001 0.048741 0.088563 0.000018
../mp_module.py:43 LinkModule.module 27531 0.058254 0.085659 0.000003
..y/mavproxy.py:595 set_stream_rates 3934 0.051187 0.075132 0.000019
..proxy_wp.py:105 WPModule.idle_task 3933 0.025630 0.065370 0.000017
..ython2.7/Queue.py:200 Queue._qsize 22526 0.044856 0.063992 0.000003
..MAVLink_heartbeat_message.get_type 86437 0.061720 0.061720 0.000001
..py:92 BatteryModule.mavlink_packet 5001 0.024272 0.061274 0.000012
..MAVLink_heartbeat_message.__init__ 5030 0.034508 0.048484 0.000010
.._rally.py:45 RallyModule.idle_task 3933 0.017396 0.039131 0.000010
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...py:253 RallyModule.mavlink_packet 5001 0.010963 0.014198 0.000003
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...py:179 MPVehicle.notify_observers 1779 0.005452 0.007149 0.000004
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..157 mavserial.auto_mavlink_version 1 0.000008 0.000009 0.000009
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...7/threading.py:1152 currentThread 1 0.000002 0.000002 0.000002
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..k/mavutil.py:61 evaluate_condition 1 0.000001 0.000001 0.000001
name tid ttot scnt
Thread 140572053894912 0.620014 3699
_MainThread 140572632536896 0.046768 258
Thread 140572356572928 0.046761 3545