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logger: add raw FIFO high-rate IMU logging profiles

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Minimum requirement to use: set IMU_GYRO_RATEMAX to 400.

Logging rate of a single topic: ~85 KB/s. If multiple should be logged,
a really good SD card has to be used.
This commit is contained in:
Beat Küng
2020-06-09 09:58:15 -04:00
committed by Daniel Agar
parent 590b65ebfb
commit 0fcb873636
4 changed files with 42 additions and 2 deletions
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src/modules/logger/logged_topics.cpp
+18
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@@ -201,6 +201,16 @@ void LoggedTopics::add_vision_and_avoidance_topics()
add_topic("vehicle_visual_odometry", 30);
}
void LoggedTopics::add_raw_imu_gyro_fifo()
{
add_topic("sensor_gyro_fifo");
}
void LoggedTopics::add_raw_imu_accel_fifo()
{
add_topic("sensor_accel_fifo");
}
void LoggedTopics::add_system_identification_topics()
{
// for system id need to log imu and controls at full rate
@@ -401,4 +411,12 @@ void LoggedTopics::initialize_configured_topics(SDLogProfileMask profile)
if (profile & SDLogProfileMask::VISION_AND_AVOIDANCE) {
add_vision_and_avoidance_topics();
}
if (profile & SDLogProfileMask::RAW_IMU_GYRO_FIFO) {
add_raw_imu_gyro_fifo();
}
if (profile & SDLogProfileMask::RAW_IMU_ACCEL_FIFO) {
add_raw_imu_accel_fifo();
}
}