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merge vehicle_angular_acceleration into vehicle_angular_velocity (#20531)

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- vehicle_angular_velocity and vehicle_angular_acceleration are produced together from the same input data, consumed together, and share the the same metadata (timestamps)
 - individually these topics each have 16 bytes of metadata (2 timestamps) for 12 bytes of data (x,y,z float32)
This commit is contained in:
Daniel Agar
2022-11-14 11:03:59 -05:00
committed by GitHub
parent 7d1f1d0f84
commit 9e7db0ed54
13 changed files with 13 additions and 50 deletions
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src/modules/logger/logged_topics.cpp
+1 -4
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@@ -216,7 +216,6 @@ void LoggedTopics::add_default_topics()
// additional control allocation logging
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
@@ -237,7 +236,6 @@ void LoggedTopics::add_default_topics()
add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint");
add_topic("time_offset");
add_topic("vehicle_angular_acceleration", 10);
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_angular_velocity_groundtruth", 10);
add_topic("vehicle_attitude_groundtruth", 10);
@@ -294,7 +292,6 @@ void LoggedTopics::add_high_rate_topics()
add_topic("manual_control_setpoint");
add_topic("rate_ctrl_status", 20);
add_topic("sensor_combined");
add_topic("vehicle_angular_acceleration");
add_topic("vehicle_angular_velocity");
add_topic("vehicle_attitude");
add_topic("vehicle_attitude_setpoint");
@@ -377,7 +374,7 @@ void LoggedTopics::add_system_identification_topics()
add_topic("actuator_controls_0");
add_topic("actuator_controls_1");
add_topic("sensor_combined");
add_topic("vehicle_angular_acceleration");
add_topic("vehicle_angular_velocity");
add_topic("vehicle_torque_setpoint");
}