measure the ROS loop time in simulink
I am trying to figure out my control loop time in simulink for controlling my simulation using MATLAB 2021a.\ I am using the loop control rate block found in these closed loop control example here The comments say: % The rate control may not be effective if the simulation model is too % complex to be handled at the desired rate. To check the rate control % performance, consider output rateObj.LastPeriod. Ideally it should be % close to SampleTime during most part of the simulation. How do I actually output/access the rateObj.LastPeriod in the model so I can make a historgram of the control rate?
John Williams answered .
2025-11-20
function r = stepImpl(obj)
%stepImpl Regulates simulation update
if coder.target('MATLAB')
obj.RateObj.waitfor();
r = obj.RateObj.LastPeriod;
else
r = nan;
end
end
Save the ExampleHelperSimulationRateControl.m class and re-open the model.