fly316/PX4-Autopilot
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Added high rate esc_status logging to the high rate logging category along with actuator_outputs_debug. Both of these

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really help diagnosing odd flight behavior / crashes on VOXL2. Also changed the logger start commands in the VOXL2
standard and HITL startup scripts.
This commit is contained in:
Eric Katzfey 2024-04-11 18:25:09 -07:00 committed by Daniel Agar
parent 78bbb66568
commit 0f665f2772
3 changed files with 13 additions and 14 deletions
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10
boards/modalai/voxl2/target/voxl-px4-hitl-start
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@ -43,13 +43,6 @@ else
param load
fi
# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted.
logger start -e -t -b 200
/bin/sleep 1
# Start all of the processing modules on DSP
@ -97,6 +90,9 @@ mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
# Start logging and use timestamps for log files when possible.
logger start -t -b 256
/bin/sleep 1
mavlink boot_complete

15
boards/modalai/voxl2/target/voxl-px4-start
View File

@ -62,13 +62,6 @@ param select /data/px4/param/parameters
# Load in all of the parameters that have been saved in the file
param load
# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted.
logger start -t
# IMU (accelerometer / gyroscope)
if [ "$PLATFORM" == "M0104" ]; then
/bin/echo "Starting IMU driver with rotation 12"
@ -235,6 +228,14 @@ mavlink stream -u 14556 -s SCALED_PRESSURE -r 10
# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo
# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted. Rather than using "-e" option it's better
# to use the SDLOG_MODE to do that.
logger start -t -b 256
mavlink boot_complete
# Optional MSP OSD driver for DJI goggles

2
src/modules/logger/logged_topics.cpp
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@ -316,7 +316,9 @@ void LoggedTopics::add_high_rate_topics()
add_topic("vehicle_attitude_setpoint");
add_topic("vehicle_rates_setpoint");
add_topic("esc_status", 5);
add_topic("actuator_motors");
add_topic("actuator_outputs_debug");
add_topic("actuator_servos");
add_topic_multi("vehicle_thrust_setpoint", 0, 2);
add_topic_multi("vehicle_torque_setpoint", 0, 2);