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logger: log all raw sensor data at a minimal rate

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This commit is contained in:
Daniel Agar
2020-01-02 13:15:02 -05:00
committed by GitHub
parent 1edfee4fdd
commit 156cf16265
1 changed files with 24 additions and 18 deletions
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src/modules/logger/logged_topics.cpp
+24 -18
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@@ -46,31 +46,33 @@ void LoggedTopics::add_default_topics()
{ {
add_topic("actuator_controls_0", 100); add_topic("actuator_controls_0", 100);
add_topic("actuator_controls_1", 100); add_topic("actuator_controls_1", 100);
add_topic("airspeed", 200); add_topic("airspeed", 1000);
add_topic("airspeed_validated", 200); add_topic("airspeed_validated", 1000);
add_topic("camera_capture"); add_topic("camera_capture");
add_topic("camera_trigger"); add_topic("camera_trigger");
add_topic("camera_trigger_secondary"); add_topic("camera_trigger_secondary");
add_topic("cellular_status", 200); add_topic("cellular_status", 200);
add_topic("cpuload"); add_topic("cpuload");
add_topic("estimator_innovations", 200);
add_topic("estimator_innovation_variances", 200);
add_topic("estimator_innovation_test_ratios", 200);
add_topic("ekf_gps_drift"); add_topic("ekf_gps_drift");
add_topic("esc_status", 250); add_topic("esc_status", 250);
add_topic("estimator_innovation_test_ratios", 200);
add_topic("estimator_innovation_variances", 200);
add_topic("estimator_innovations", 200);
add_topic("estimator_status", 200); add_topic("estimator_status", 200);
add_topic("home_position"); add_topic("home_position");
add_topic("input_rc", 200); add_topic("input_rc", 200);
add_topic("manual_control_setpoint", 200); add_topic("manual_control_setpoint", 200);
add_topic("mission"); add_topic("mission");
add_topic("mission_result"); add_topic("mission_result");
add_topic("optical_flow", 50); add_topic("offboard_control_mode", 1000);
add_topic("position_controller_status", 500); add_topic("position_controller_status", 500);
add_topic("position_setpoint_triplet", 200); add_topic("position_setpoint_triplet", 200);
add_topic("radio_status"); add_topic("radio_status");
add_topic("rate_ctrl_status", 200); add_topic("rate_ctrl_status", 200);
add_topic("sensor_combined", 100); add_topic("sensor_combined", 100);
add_topic("sensor_correction", 1000);
add_topic("sensor_preflight", 200); add_topic("sensor_preflight", 200);
add_topic("sensor_selection");
add_topic("system_power", 500); add_topic("system_power", 500);
add_topic("tecs_status", 200); add_topic("tecs_status", 200);
add_topic("trajectory_setpoint", 200); add_topic("trajectory_setpoint", 200);
@@ -85,36 +87,40 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_local_position_setpoint", 100); add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_magnetometer", 200); add_topic("vehicle_magnetometer", 200);
add_topic("vehicle_rates_setpoint", 20); add_topic("vehicle_rates_setpoint", 20);
add_topic("vehicle_roi", 1000);
add_topic("vehicle_status", 200); add_topic("vehicle_status", 200);
add_topic("vehicle_status_flags"); add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200); add_topic("vtol_vehicle_status", 200);
// multi topics
add_topic_multi("actuator_outputs", 100); add_topic_multi("actuator_outputs", 100);
add_topic_multi("battery_status", 500); add_topic_multi("multirotor_motor_limits", 1000);
add_topic_multi("distance_sensor", 100); add_topic_multi("telemetry_status", 1000);
add_topic_multi("wind_estimate", 1000);
// log all raw sensors at minimal rate (1 Hz)
add_topic_multi("battery_status", 1000);
add_topic_multi("differential_pressure", 1000);
add_topic_multi("distance_sensor", 1000);
add_topic_multi("optical_flow", 1000);
add_topic_multi("sensor_accel", 1000);
add_topic_multi("sensor_accel_status", 1000); add_topic_multi("sensor_accel_status", 1000);
add_topic_multi("sensor_baro", 1000);
add_topic_multi("sensor_gyro", 1000);
add_topic_multi("sensor_gyro_status", 1000); add_topic_multi("sensor_gyro_status", 1000);
add_topic_multi("telemetry_status"); add_topic_multi("sensor_mag", 1000);
add_topic_multi("vehicle_gps_position"); add_topic_multi("vehicle_gps_position", 1000);
add_topic_multi("wind_estimate", 200);
#ifdef CONFIG_ARCH_BOARD_PX4_SITL #ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw"); add_topic("actuator_controls_virtual_fw");
add_topic("actuator_controls_virtual_mc"); add_topic("actuator_controls_virtual_mc");
add_topic("fw_virtual_attitude_setpoint"); add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint"); add_topic("mc_virtual_attitude_setpoint");
add_topic("offboard_control_mode");
add_topic("position_controller_status");
add_topic("time_offset"); add_topic("time_offset");
add_topic("vehicle_angular_velocity", 10); add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_attitude_groundtruth", 10); add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100); add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 100); add_topic("vehicle_local_position_groundtruth", 100);
add_topic("vehicle_roi");
add_topic_multi("multirotor_motor_limits");
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */ #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
} }