logger: fixed watchdog not logging, increased cycle trigger (#23769)

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);
 	}