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Add logging profiles to logger module.

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This commit is contained in:
James Goppert
2017-06-29 07:32:30 -04:00
committed by Lorenz Meier
parent 2092770361
commit d10a491243
5 changed files with 76 additions and 15 deletions
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src/modules/logger/logger.cpp
+35 -6
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@@ -397,11 +397,13 @@ Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_inte
_log_name_timestamp(log_name_timestamp),
_writer(backend, buffer_size, queue_size),
_log_interval(log_interval),
_sdlog_mode(0)
_sdlog_mode(SDLOG_MODE_ARM_UNTIL_DISARM),
_sdlog_profile(SDLOG_PROFILE_DEFAULT)
{
_log_utc_offset = param_find("SDLOG_UTC_OFFSET");
_log_dirs_max = param_find("SDLOG_DIRS_MAX");
_sdlog_mode_handle = param_find("SDLOG_MODE");
_sdlog_profile_handle = param_find("SDLOG_PROFILE");
if (poll_topic_name) {
const orb_metadata **topics = orb_get_topics();
@@ -598,8 +600,11 @@ void Logger::add_default_topics()
add_topic("gps_dump"); //this will only be published if GPS_DUMP_COMM is set
add_topic("sensor_preflight", 50);
add_topic("task_stack_info");
}
/* for estimator replay (need to be at full rate) */
void Logger::add_estimator_replay_topics()
{
// for estimator replay (need to be at full rate)
add_topic("airspeed");
add_topic("distance_sensor");
add_topic("ekf2_timestamps");
@@ -609,15 +614,23 @@ void Logger::add_default_topics()
add_topic("vehicle_status");
}
void Logger::add_calibration_topics()
void Logger::add_thermal_calibration_topics()
{
// Note: try to avoid setting the interval where possible, as it increases RAM usage
add_topic("sensor_gyro", 100);
add_topic("sensor_accel", 100);
add_topic("sensor_baro", 100);
}
void Logger::add_system_identification_topics()
{
// for system id need to log imu and controls at full rate
add_topic("sensor_gyro");
add_topic("sensor_accel");
add_topic("actuator_controls_0");
add_topic("actuator_controls_1");
}
int Logger::add_topics_from_file(const char *fname)
{
FILE *fp;
@@ -730,11 +743,27 @@ void Logger::run()
param_get(_sdlog_mode_handle, &_sdlog_mode);
}
if (_sdlog_mode == 3) {
add_calibration_topics();
if (_sdlog_profile_handle != PARAM_INVALID) {
param_get(_sdlog_profile_handle, &_sdlog_profile);
}
if (_sdlog_profile == SDLOG_PROFILE_DEFAULT) {
add_default_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_ESTIMATOR_REPLAY) {
add_default_topics();
add_estimator_replay_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_THERMAL_CALIBRATION) {
add_thermal_calibration_topics();
} else if (_sdlog_profile == SDLOG_PROFILE_SYSTEM_IDENTIFICATION) {
add_default_topics();
add_system_identification_topics();
} else {
add_default_topics();
add_estimator_replay_topics();
}
}