fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 00:51:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

increase logging

Browse Source
This commit is contained in:
Daniel Agar
2022-11-01 21:31:44 -04:00
parent 81d622d11b
commit 2ab87d029d
1 changed files with 22 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+22 -22
View File
@@ -144,21 +144,21 @@ void LoggedTopics::add_default_topics()
#endif
// always add the first instance
add_topic("estimator_baro_bias", 500);
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_pos_bias", 500);
add_topic("estimator_baro_bias", 0);
add_topic("estimator_gnss_hgt_bias", 0);
add_topic("estimator_rng_hgt_bias", 0);
add_topic("estimator_ev_pos_bias", 0);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
add_topic("estimator_innovation_variances", 500);
add_topic("estimator_innovation_test_ratios", 50);
add_topic("estimator_innovation_variances", 50);
add_topic("estimator_innovations", 500);
add_topic("estimator_optical_flow_vel", 200);
add_topic("estimator_optical_flow_vel", 0);
add_topic("estimator_sensor_bias", 0);
add_topic("estimator_states", 1000);
add_topic("estimator_status", 200);
add_topic("estimator_states", 10);
add_topic("estimator_status", 10);
add_topic("estimator_status_flags", 0);
add_topic("yaw_estimator_status", 1000);
add_topic("yaw_estimator_status", 100);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
@@ -195,11 +195,11 @@ void LoggedTopics::add_default_topics()
// TODO: temporary
add_topic_multi("estimator_aid_src_airspeed", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_aux_vel", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_baro_hgt", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_hgt", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_pos", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_vel", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_yaw", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_baro_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_pos", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_vel", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_ev_yaw", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_fake_hgt", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_fake_pos", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_gnss_hgt", 10, MAX_ESTIMATOR_INSTANCES);
@@ -208,8 +208,8 @@ void LoggedTopics::add_default_topics()
add_topic_multi("estimator_aid_src_gnss_yaw", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_mag", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_mag_heading", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_optical_flow", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_rng_hgt", 10, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_rng_hgt", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_aid_src_sideslip", 10, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz)
@@ -222,13 +222,13 @@ void LoggedTopics::add_default_topics()
add_topic_multi("sensor_gnss_relative", 1000, 1);
add_optional_topic_multi("sensor_gyro", 1000, 4);
add_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("sensor_optical_flow", 1000, 2);
add_topic_multi("sensor_optical_flow", 10, 2);
add_topic_multi("vehicle_imu", 500, 4);
add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
add_topic("vehicle_optical_flow", 500);
//add_optional_topic("vehicle_optical_flow_vel", 100);
add_topic("vehicle_optical_flow", 10);
add_optional_topic("vehicle_optical_flow_vel", 10);
add_optional_topic("pps_capture");
// additional control allocation logging
@@ -340,13 +340,13 @@ void LoggedTopics::add_estimator_replay_topics()
// current EKF2 subscriptions
add_topic("airspeed");
add_topic("optical_flow");
add_topic("sensor_combined");
add_topic("sensor_selection");
add_topic("vehicle_air_data");
add_topic("vehicle_gps_position");
add_topic("vehicle_land_detected");
add_topic("vehicle_magnetometer");
add_topic("vehicle_optical_flow");
add_topic("vehicle_status");
add_topic("vehicle_visual_odometry");
add_topic_multi("distance_sensor");
@@ -374,7 +374,7 @@ void LoggedTopics::add_vision_and_avoidance_topics()
add_topic("vehicle_mocap_odometry", 30);
add_topic("vehicle_trajectory_waypoint", 200);
add_topic("vehicle_trajectory_waypoint_desired", 200);
add_topic("vehicle_visual_odometry", 30);
add_topic("vehicle_visual_odometry", 0);
}
void LoggedTopics::add_raw_imu_gyro_fifo()