logger: change SDLOG_PROFILE into a bitset

This is more flexible, allowing a combination of sets.

The default enables the same set & rates as before

src/modules/logger/logger.cpp

@@ -531,7 +531,7 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
 	return updated;
 }
 
-void Logger::add_common_topics()
+void Logger::add_default_topics()
 {
 #ifdef CONFIG_ARCH_BOARD_SITL
 	add_topic("vehicle_attitude_groundtruth", 10);
@@ -740,36 +740,40 @@ void Logger::run()
 	} else {
 
 		// get the logging profile
-		SDLogProfile sdlog_profile = SDLogProfile::DEFAULT;
+		SDLogProfileMask sdlog_profile = SDLogProfileMask::DEFAULT;
 
 		if (_sdlog_profile_handle != PARAM_INVALID) {
 			param_get(_sdlog_profile_handle, &sdlog_profile);
 		}
+		if ((int32_t)sdlog_profile == 0) {
+			PX4_WARN("No logging profile selected. Using default set");
+			sdlog_profile = SDLogProfileMask::DEFAULT;
+		}
 
 		// load appropriate topics for profile
-		if (sdlog_profile == SDLogProfile::DEFAULT) {
-			add_common_topics();
-			add_estimator_replay_topics();
+		// the order matters: if several profiles add the same topic, the logging rate of the last one will be used
+		if (sdlog_profile & SDLogProfileMask::DEFAULT) {
+			add_default_topics();
+		}
 
-		} else if (sdlog_profile == SDLogProfile::THERMAL_CALIBRATION) {
+		if (sdlog_profile & SDLogProfileMask::ESTIMATOR_REPLAY) {
+			add_estimator_replay_topics();
+		}
+
+		if (sdlog_profile & SDLogProfileMask::THERMAL_CALIBRATION) {
 			add_thermal_calibration_topics();
+		}
 
-		} else if (sdlog_profile == SDLogProfile::SYSTEM_IDENTIFICATION) {
-			add_common_topics();
+		if (sdlog_profile & SDLogProfileMask::SYSTEM_IDENTIFICATION) {
 			add_system_identification_topics();
+		}
 
-		} else if (sdlog_profile == SDLogProfile::HIGH_RATE) {
-			add_common_topics();
-			add_estimator_replay_topics();
+		if (sdlog_profile & SDLogProfileMask::HIGH_RATE) {
 			add_high_rate_topics();
+		}
 
-		} else if (sdlog_profile == SDLogProfile::DEBUG_TOPICS) {
-			add_common_topics();
+		if (sdlog_profile & SDLogProfileMask::DEBUG_TOPICS) {
 			add_debug_topics();
-
-		} else {
-			add_common_topics();
-			add_estimator_replay_topics();
 		}
 	}
 

src/modules/logger/logger.h

@@ -61,15 +61,20 @@ namespace px4
 namespace logger
 {
 
-enum class SDLogProfile : int32_t {
-	DEFAULT = 0,
-	THERMAL_CALIBRATION,
-	SYSTEM_IDENTIFICATION,
-	HIGH_RATE,
-	DEBUG_TOPICS,
-	N_PROFILES
+enum class SDLogProfileMask : int32_t {
+	DEFAULT =               1 << 0,
+	ESTIMATOR_REPLAY =      1 << 1,
+	THERMAL_CALIBRATION =   1 << 2,
+	SYSTEM_IDENTIFICATION = 1 << 3,
+	HIGH_RATE =             1 << 4,
+	DEBUG_TOPICS =          1 << 5
 };
 
+inline bool operator&(SDLogProfileMask a, SDLogProfileMask b)
+{
+	return static_cast<int32_t>(a) & static_cast<int32_t>(b);
+}
+
 struct LoggerSubscription {
 	int fd[ORB_MULTI_MAX_INSTANCES];
 	uint16_t msg_ids[ORB_MULTI_MAX_INSTANCES];
@@ -268,7 +273,7 @@ private:
 	 */
 	int add_topics_from_file(const char *fname);
 
-	void add_common_topics();
+	void add_default_topics();
 	void add_estimator_replay_topics();
 	void add_thermal_calibration_topics();
 	void add_system_identification_topics();

src/modules/logger/params.c

@@ -71,22 +71,33 @@ PARAM_DEFINE_INT32(SDLOG_MODE, 0);
 /**
  * Logging Topic Profile
  *
- * Selects a set of topics appropriate for specific tasks.
+ * This is an integer bitmask controlling the set and rates of logged topics.
+ * The default allows for general log analysis and estimator replay, while
+ * keeping the log file size reasonably small.
  *
- * This parameter is only for the new logger (SYS_LOGGER=1).
+ * Enabling multiple sets leads to higher bandwidth requirements and larger log
+ * files.
  *
- * @value 0 default
- * @value 1 thermal calibration
- * @value 2 system identification
- * @value 3 high rate
- * @value 4 debug topics
+ * Set bits in the following positions to enable:
+ * 0 : Set to true to use the default set (used for general log analysis)
+ * 1 : Set to true to enable estimator (EKF2) replay topics
+ * 2 : Set to true to enable topics for thermal calibration (raw IMU sensor data)
+ * 3 : Set to true to enable topics for system identification (high rate actuator control and IMU data)
+ * 4 : Set to true to enable full rates for analysis of fast maneuvers (RC, attitude, rates and actuators)
+ * 5 : Set to true to enable debugging topics (debug_*.msg topics, for custom code)
  *
  * @min 0
- * @max 4
+ * @max 63
+ * @bit 0 default set (log analysis)
+ * @bit 1 estimator replay (EKF2)
+ * @bit 2 thermal calibration
+ * @bit 3 system identification
+ * @bit 4 high rate
+ * @bit 5 debug
  * @reboot_required true
  * @group SD Logging
  */
-PARAM_DEFINE_INT32(SDLOG_PROFILE, 0);
+PARAM_DEFINE_INT32(SDLOG_PROFILE, 3);
 
 /**
  * Maximum number of log directories to keep