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delete SYS_CTRL_ALLOC

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This commit is contained in:
Daniel Agar
2022-09-09 09:14:09 -04:00
parent 13f9eabd70
commit 15fece7e14
17 changed files with 46 additions and 245 deletions
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src/modules/logger/logged_topics.cpp
+9 -22
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@@ -208,19 +208,12 @@ void LoggedTopics::add_default_topics()
//add_optional_topic("vehicle_optical_flow_vel", 100);
add_optional_topic("pps_capture");
// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
_dynamic_control_allocation = sys_ctrl_alloc >= 1;
if (_dynamic_control_allocation) {
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
}
// additional control allocation logging
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
// SYS_HITL: default ground truth logging for simulation
int32_t sys_hitl = 0;
@@ -294,15 +287,9 @@ void LoggedTopics::add_high_rate_topics()
add_topic("vehicle_attitude_setpoint");
add_topic("vehicle_rates_setpoint");
if (_dynamic_control_allocation) {
add_topic("actuator_motors");
add_topic("vehicle_thrust_setpoint");
add_topic("vehicle_torque_setpoint");
} else {
add_topic("actuator_controls_0");
add_topic("actuator_outputs");
}
add_topic("actuator_motors");
add_topic("vehicle_thrust_setpoint");
add_topic("vehicle_torque_setpoint");
}
void LoggedTopics::add_debug_topics()
src/modules/logger/logged_topics.h
-2
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@@ -185,8 +185,6 @@ private:
RequestedSubscriptionArray _subscriptions;
int _num_mission_subs{0};
float _rate_factor{1.0f};
bool _dynamic_control_allocation{false};
};
} //namespace logger