fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 21:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Switch to class enum and cleanup log profiles.

Browse Source
This commit is contained in:
James Goppert
2017-07-06 09:02:13 +02:00
committed by Lorenz Meier
parent 034c0c702a
commit 16f46c15d3
2 changed files with 53 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logger.cpp
+44 -54
View File
@@ -396,13 +396,10 @@ Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_inte
_log_until_shutdown(log_until_shutdown),
_log_name_timestamp(log_name_timestamp),
_writer(backend, buffer_size, queue_size),
_log_interval(log_interval),
_sdlog_mode(SDLOG_MODE_ARM_UNTIL_DISARM),
_sdlog_profile(SDLOG_PROFILE_DEFAULT)
_log_interval(log_interval)
{
_log_utc_offset = param_find("SDLOG_UTC_OFFSET");
_log_dirs_max = param_find("SDLOG_DIRS_MAX");
_sdlog_mode_handle = param_find("SDLOG_MODE");
_sdlog_profile_handle = param_find("SDLOG_PROFILE");
if (poll_topic_name) {
@@ -576,72 +573,71 @@ void Logger::add_common_topics()
#endif
// Note: try to avoid setting the interval where possible, as it increases RAM usage
add_topic("vehicle_attitude", 30);
add_topic("actuator_outputs", 100);
add_topic("telemetry_status");
add_topic("vehicle_command");
add_topic("vtol_vehicle_status", 100);
add_topic("commander_state", 100);
add_topic("satellite_info");
add_topic("vehicle_attitude_setpoint", 30);
add_topic("vehicle_rates_setpoint", 30);
add_topic("actuator_controls_0", 100);
add_topic("actuator_controls_1", 100);
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_global_position", 200);
add_topic("vehicle_vision_position");
add_topic("vehicle_vision_attitude");
add_topic("battery_status", 300);
add_topic("system_power", 300);
add_topic("position_setpoint_triplet", 200);
add_topic("actuator_outputs", 100);
add_topic("airspeed");
add_topic("att_pos_mocap", 50);
add_topic("optical_flow", 50);
add_topic("rc_channels", 100);
add_topic("input_rc", 100);
add_topic("battery_status", 300);
add_topic("camera_capture");
add_topic("camera_trigger");
add_topic("commander_state", 100);
add_topic("control_state", 100);
add_topic("cpuload");
add_topic("differential_pressure", 50);
add_topic("distance_sensor");
add_topic("ekf2_innovations", 50);
add_topic("esc_status", 250);
add_topic("estimator_status", 200); //this one is large
add_topic("ekf2_innovations", 50);
add_topic("tecs_status", 20);
add_topic("wind_estimate", 100);
add_topic("control_state", 100);
add_topic("camera_trigger");
add_topic("camera_capture");
add_topic("cpuload");
add_topic("gps_dump"); //this will only be published if GPS_DUMP_COMM is set
add_topic("gps_dump"); //this will only be published if gps_dump_comm is set
add_topic("input_rc", 100);
add_topic("optical_flow", 50);
add_topic("position_setpoint_triplet", 200);
add_topic("rc_channels", 100);
add_topic("satellite_info");
add_topic("sensor_combined", 100);
add_topic("sensor_preflight", 50);
add_topic("system_power", 300);
add_topic("task_stack_info");
add_topic("tecs_status", 20);
add_topic("telemetry_status");
add_topic("vehicle_attitude", 30);
add_topic("vehicle_attitude_setpoint", 30);
add_topic("vehicle_command");
add_topic("vehicle_global_position", 200);
add_topic("vehicle_gps_position");
add_topic("vehicle_land_detected");
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_rates_setpoint", 30);
add_topic("vehicle_status");
add_topic("vehicle_vision_attitude");
add_topic("vehicle_vision_position");
add_topic("vtol_vehicle_status", 100);
add_topic("wind_estimate", 100);
}
void Logger::add_estimator_replay_topics()
{
// for estimator replay (need to be at full rate)
add_topic("airspeed");
add_topic("distance_sensor");
add_topic("ekf2_timestamps");
add_topic("sensor_combined");
add_topic("vehicle_gps_position");
add_topic("vehicle_land_detected");
add_topic("vehicle_status");
}
void Logger::add_thermal_calibration_topics()
{
// Note: try to avoid setting the interval where possible, as it increases RAM usage
add_topic("sensor_gyro", 100);
add_topic("sensor_accel", 100);
add_topic("sensor_baro", 100);
add_topic("sensor_gyro", 100);
}
void Logger::add_system_identification_topics()
{
// for system id need to log imu and controls at full rate
add_topic("sensor_gyro");
add_topic("sensor_accel");
add_topic("actuator_controls_0");
add_topic("actuator_controls_1");
add_topic("sensor_combined");
}
int Logger::add_topics_from_file(const char *fname)
@@ -751,27 +747,21 @@ void Logger::run()
} else {
/* get the logging mode */
if (_sdlog_mode_handle != PARAM_INVALID) {
param_get(_sdlog_mode_handle, &_sdlog_mode);
}
// get the logging profile
SDLogProfile sdlog_profile = SDLogProfile::DEFAULT;
if (_sdlog_profile_handle != PARAM_INVALID) {
param_get(_sdlog_profile_handle, &_sdlog_profile);
param_get(_sdlog_profile_handle, &sdlog_profile);
}
if (_sdlog_profile == SDLOG_PROFILE_DEFAULT) {
// load appropriate topics for profile
if (sdlog_profile == SDLogProfile::DEFAULT) {
add_common_topics();
add_estimator_replay_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_ESTIMATOR_REPLAY) {
add_common_topics();
add_estimator_replay_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_THERMAL_CALIBRATION) {
} else if (sdlog_profile == SDLogProfile::THERMAL_CALIBRATION) {
add_thermal_calibration_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_SYSTEM_IDENTIFICATION) {
} else if (sdlog_profile == SDLogProfile::SYSTEM_IDENTIFICATION) {
add_common_topics();
add_system_identification_topics();
src/modules/logger/logger.h
+9 -12
View File
@@ -58,17 +58,17 @@ namespace px4
namespace logger
{
enum {
SDLOG_MODE_ARM_UNTIL_DISARM = 0,
SDLOG_MODE_BOOT_UNTIL_DISARM = 1,
SDLOG_MODE_BOOT_UNTIL_SHUTDOWN = 2
enum class SDLogMode {
ARM_UNTIL_DISARM = 0,
BOOT_UNTIL_DISARM = 1,
BOOT_UNTIL_SHUTDOWN = 2
};
enum {
SDLOG_PROFILE_DEFAULT = 0,
SDLOG_PROFILE_ESTIMATOR_REPLAY = 1,
SDLOG_PROFILE_THERMAL_CALIBRATION = 2,
SDLOG_PROFILE_SYSTEM_IDENTIFICATION = 3
enum class SDLogProfile {
DEFAULT = 0,
ESTIMATOR_REPLAY = 1,
THERMAL_CALIBRATION = 2,
SYSTEM_IDENTIFICATION = 3
};
struct LoggerSubscription {
@@ -322,9 +322,6 @@ private:
// control
param_t _sdlog_mode_handle;
param_t _sdlog_profile_handle;
int32_t _sdlog_mode;
int32_t _sdlog_profile;
};
} //namespace logger