From 936eb89edbb07fbb921434d7f58d46305c81f4ca Mon Sep 17 00:00:00 2001
From: Alexander Lerach <alexander@auterion.com>
Date: Tue, 8 Oct 2024 09:53:55 +0200
Subject: [PATCH] logger: fixed watchdog not logging, increased cycle trigger
 (#23769)

---
 src/modules/logger/logger.cpp   | 13 ++++++++++++-
 src/modules/logger/watchdog.cpp |  8 +++++---
 src/modules/logger/watchdog.h   |  2 ++
 3 files changed, 19 insertions(+), 4 deletions(-)

diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 8d897a103a..ff5221d8b6 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -1615,6 +1615,11 @@ void Logger::initialize_load_output(PrintLoadReason reason)
 {
 	// If already in progress, don't try to start again
 	if (_next_load_print != 0) {
+		// To never miss watchdog triggers due to load measuring in progress, overwrite the measurement reason
+		if (reason == PrintLoadReason::Watchdog) {
+			_print_load_reason = reason;
+		}
+
 		return;
 	}
 
@@ -1635,7 +1640,13 @@ void Logger::write_load_output()
 	_writer.set_need_reliable_transfer(true, _print_load_reason != PrintLoadReason::Watchdog);
 
 	if (_print_load_reason == PrintLoadReason::Watchdog) {
-		PX4_ERR("Writing watchdog data"); // this is just that we see it easily in the log
+		// This is just that we see it easily in the log
+		PX4_ERR("Writing watchdog data...");
+#ifdef __PX4_NUTTX
+		bool cycle_trigger = _timer_callback_data.watchdog_data.triggered_by_cycle_delay;
+		bool ready_trigger = _timer_callback_data.watchdog_data.triggered_by_ready_delay;
+		PX4_ERR("Watchdog triggers - cycle trigger: %d, ready trigger: %d", cycle_trigger, ready_trigger);
+#endif
 		write_perf_data(PrintLoadReason::Watchdog);
 	}
 
diff --git a/src/modules/logger/watchdog.cpp b/src/modules/logger/watchdog.cpp
index aa04bd0f6e..6816fa042c 100644
--- a/src/modules/logger/watchdog.cpp
+++ b/src/modules/logger/watchdog.cpp
@@ -129,10 +129,10 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
 					watchdog_data.sem_counter_saturated_start = now;
 				}
 
-				if (watchdog_data.manual_watchdog_trigger
-				    || now > watchdog_data.sem_counter_saturated_start + 3_s
-				    || now > watchdog_data.ready_to_run_timestamp + 1_s) {
+				bool cycle_trigger = now > watchdog_data.sem_counter_saturated_start + 5_s;
+				bool ready_trigger = now > watchdog_data.ready_to_run_timestamp + 1_s;
 
+				if (watchdog_data.manual_watchdog_trigger || cycle_trigger || ready_trigger) {
 					sched_param param{};
 
 					// Get the current priorities
@@ -153,6 +153,8 @@ bool watchdog_update(watchdog_data_t &watchdog_data, bool semaphore_value_satura
 
 					sched_setparam(log_writer_task.tcb->pid, &param);
 
+					watchdog_data.triggered_by_cycle_delay = cycle_trigger;
+					watchdog_data.triggered_by_ready_delay = ready_trigger;
 					watchdog_data.trigger_time = now;
 					return true;
 				}
diff --git a/src/modules/logger/watchdog.h b/src/modules/logger/watchdog.h
index 0ccfe0e4a9..aebd23ff14 100644
--- a/src/modules/logger/watchdog.h
+++ b/src/modules/logger/watchdog.h
@@ -56,6 +56,8 @@ struct watchdog_data_t {
 	int logger_main_priority = 0;
 	hrt_abstime trigger_time = 0; ///< timestamp when it was triggered
 	bool manual_watchdog_trigger = false;
+	bool triggered_by_cycle_delay = false;
+	bool triggered_by_ready_delay = false;
 #endif /* __PX4_NUTTX */
 };