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User callback debugging and MavlinkDirect improvements#2694

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julianoes merged 3 commits intomainfrom
pr-user-callbacks
Nov 2, 2025
Merged

User callback debugging and MavlinkDirect improvements#2694
julianoes merged 3 commits intomainfrom
pr-user-callbacks

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@julianoes julianoes commented Oct 26, 2025 •
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This adds better user callback tracking with MAVSDK_CALLBACK_DEBUGGING=1 set:

[04:24:30|Info ] Callback stats: 191 callbacks/sec (avg), queue size: 0 (callback_tracker.cpp:48)
[04:24:30|Info ] Top callback sources (by time): (callback_tracker.cpp:66)
[04:24:30|Info ]   mavlink_direct_impl.cpp:163: 20 calls, 119 us total, 5 us avg, 92.2% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   mavlink_command_sender.cpp:472: 10 calls, 10 us total, 1 us avg, 7.8% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   info_impl.cpp:167: 5 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:1024: 5 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:1206: 3 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:1223: 5 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:1230: 5 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:1303: 5 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:685: 150 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)
[04:24:30|Info ]   telemetry_impl.cpp:770: 500 calls, 0 us total, 0 us avg, 0.0% of time (callback_tracker.cpp:89)

The instrumentation let me discover that we were using the queue internally instead of externally in MavlinkDirect. That's fixed as well.

@julianoes julianoes mentioned this pull request Oct 26, 2025
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JonasVautherin
JonasVautherin reviewed Oct 26, 2025
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Comment thread src/mavsdk/core/mavsdk_impl.cpp
Comment thread src/mavsdk/core/mavsdk_impl.cpp Outdated
@julianoes
core: add callback tracker to debug user callbacks
9cfd534 
This adds a class to debug user callbacks taking too long.

The class is only instantiated and used when the env variable
MAVSDK_CALLBACK_DEBUGGING=1
is set.
@julianoes
mavlink_direct: optimize callback queue usage
e4a47f7 
We should not use the callback queue internally (unless we need to) but
only once it comes to external/user callbacks.
@julianoes
core: fixup callback warning logic
e25d7e6
@sonarqubecloud
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sonarqubecloud Bot commented Oct 31, 2025

Quality Gate Passed Quality Gate passed

Issues
11 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

@julianoes julianoes merged commit 4086878 into main Nov 2, 2025
54 checks passed
@julianoes julianoes deleted the pr-user-callbacks branch November 2, 2025 02:29
@julianoes julianoes mentioned this pull request Dec 2, 2025
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@julianoes @JonasVautherin