Build with debug info (add to CMakeLists.txt or build flags): cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. Run your app under perf: perf record -g ./your_app Analyze results: perf report Or flame graph (visual): perf script | stackcollapse-perf.pl | flamegraph.pl > flame.svg With no incoming signal 79% of CPU is in rade_acq_detect_pilots