logger: add high rate & debug profiles

src/modules/logger/logger.cpp

@@ -580,6 +580,24 @@ void Logger::add_common_topics()
 	add_topic("wind_estimate", 200);
 }
 
+void Logger::add_high_rate_topics()
+{
+	// maximum rate to analyze fast maneuvers (e.g. for racing)
+	add_topic("actuator_controls_0");
+	add_topic("actuator_outputs");
+	add_topic("manual_control_setpoint");
+	add_topic("vehicle_attitude");
+	add_topic("vehicle_attitude_setpoint");
+	add_topic("vehicle_rates_setpoint");
+}
+
+void Logger::add_debug_topics()
+{
+	add_topic("debug_key_value");
+	add_topic("debug_value");
+	add_topic("debug_vect");
+}
+
 void Logger::add_estimator_replay_topics()
 {
 	// for estimator replay (need to be at full rate)
@@ -601,7 +619,6 @@ void Logger::add_estimator_replay_topics()
 
 void Logger::add_thermal_calibration_topics()
 {
-	// Note: try to avoid setting the interval where possible, as it increases RAM usage
 	add_topic("sensor_accel", 100);
 	add_topic("sensor_baro", 100);
 	add_topic("sensor_gyro", 100);
@@ -741,6 +758,15 @@ void Logger::run()
 			add_common_topics();
 			add_system_identification_topics();
 
+		} else if (sdlog_profile == SDLogProfile::HIGH_RATE) {
+			add_common_topics();
+			add_estimator_replay_topics();
+			add_high_rate_topics();
+
+		} else if (sdlog_profile == SDLogProfile::DEBUG_TOPICS) {
+			add_common_topics();
+			add_debug_topics();
+
 		} else {
 			add_common_topics();
 			add_estimator_replay_topics();