From 615333badb289aa77285bcfad071cc6a70b13632 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 20 Nov 2020 08:15:21 +0100
Subject: [PATCH] logger: log gps_dump if GPS_DUMP_COMM is set

---
 src/modules/logger/logged_topics.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 11cac52d25..07d87d7b97 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -34,6 +34,7 @@
 #include "logged_topics.h"
 #include "messages.h"
 
+#include <parameters/param.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_config.h>
 #include <uORB/topics/uORBTopics.hpp>
@@ -152,6 +153,13 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_global_position_groundtruth", 100);
 	add_topic("vehicle_local_position_groundtruth", 100);
 #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
+
+	int32_t gps_dump_comm = 0;
+	param_get(param_find("GPS_DUMP_COMM"), &gps_dump_comm);
+
+	if (gps_dump_comm == 1) {
+		add_topic("gps_dump");
+	}
 }
 
 void LoggedTopics::add_high_rate_topics()