fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-01 05:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

logger: add separate profile for vision/avoidance

Browse Source 
Keeps things more modular.
This commit is contained in:
Beat Küng
2018-12-07 10:52:43 +01:00
parent fced1ce33b
commit dc49e259b3
4 changed files with 22 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logger.cpp
+14 -6
View File
@@ -622,7 +622,6 @@ void Logger::add_default_topics()
add_topic("battery_status", 500);
add_topic("camera_capture");
add_topic("camera_trigger");
add_topic("collision_constraints");
add_topic("cpuload");
add_topic("distance_sensor", 100);
add_topic("ekf2_innovations", 200);
@@ -634,7 +633,6 @@ void Logger::add_default_topics()
add_topic("manual_control_setpoint", 200);
add_topic("mission");
add_topic("mission_result");
add_topic("obstacle_distance");
add_topic("optical_flow", 50);
add_topic("position_setpoint_triplet", 200);
add_topic("radio_status");
@@ -655,13 +653,9 @@ void Logger::add_default_topics()
add_topic("vehicle_local_position", 100);
add_topic("vehicle_local_position_setpoint", 100);
add_topic("vehicle_magnetometer", 200);
add_topic("vehicle_mocap_odometry", 30);
add_topic("vehicle_rates_setpoint", 30);
add_topic("vehicle_status", 200);
add_topic("vehicle_status_flags");
add_topic("vehicle_trajectory_waypoint", 200);
add_topic("vehicle_trajectory_waypoint_desired", 200);
add_topic("vehicle_visual_odometry", 30);
add_topic("vtol_vehicle_status", 200);
add_topic("wind_estimate", 200);
@@ -737,6 +731,16 @@ void Logger::add_sensor_comparison_topics()
add_topic("sensor_mag", 100);
}
void Logger::add_vision_and_avoidance_topics()
{
add_topic("collision_constraints");
add_topic("obstacle_distance");
add_topic("vehicle_mocap_odometry", 30);
add_topic("vehicle_trajectory_waypoint", 200);
add_topic("vehicle_trajectory_waypoint_desired", 200);
add_topic("vehicle_visual_odometry", 30);
}
void Logger::add_system_identification_topics()
{
// for system id need to log imu and controls at full rate
@@ -867,6 +871,10 @@ void Logger::initialize_configured_topics()
if (sdlog_profile & SDLogProfileMask::SENSOR_COMPARISON) {
add_sensor_comparison_topics();
}
if (sdlog_profile & SDLogProfileMask::VISION_AND_AVOIDANCE) {
add_vision_and_avoidance_topics();
}
}