logger: add separate profile for vision/avoidance

Keeps things more modular.

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -147,6 +147,8 @@ then
 	param set RTL_LAND_DELAY 5
 	param set RTL_RETURN_ALT 30
 
+	# enable default, estimator replay and vision/avoidance logging profiles
+	param set SDLOG_PROFILE 131
 	param set SDLOG_DIRS_MAX 7
 	param set SENS_BOARD_ROT 0
 	param set SENS_BOARD_X_OFF 0.000001

src/modules/logger/logger.cpp

@@ -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();
+	}
 }
 
 

src/modules/logger/logger.h

@@ -64,7 +64,8 @@ enum class SDLogProfileMask : int32_t {
 	SYSTEM_IDENTIFICATION = 1 << 3,
 	HIGH_RATE =             1 << 4,
 	DEBUG_TOPICS =          1 << 5,
-	SENSOR_COMPARISON =     1 << 6
+	SENSOR_COMPARISON =     1 << 6,
+	VISION_AND_AVOIDANCE =  1 << 7
 };
 
 enum class MissionLogType : int32_t {
@@ -332,6 +333,7 @@ private:
 	void add_high_rate_topics();
 	void add_debug_topics();
 	void add_sensor_comparison_topics();
+	void add_vision_and_avoidance_topics();
 
 	/**
 	 * check current arming state and start/stop logging if state changed and according to configured params.

src/modules/logger/params.c

@@ -105,9 +105,10 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 1);
  * 4 : Full rates for analysis of fast maneuvers (RC, attitude, rates and actuators)
  * 5 : Debugging topics (debug_*.msg topics, for custom code)
  * 6 : Topics for sensor comparison (low rate raw IMU, Baro and Magnetomer data)
+ * 7 : Topics for computer vision and collision avoidance
  *
  * @min 0
- * @max 127
+ * @max 255
  * @bit 0 Default set (general log analysis)
  * @bit 1 Estimator replay (EKF2)
  * @bit 2 Thermal calibration
@@ -115,6 +116,7 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 1);
  * @bit 4 High rate
  * @bit 5 Debug
  * @bit 6 Sensor comparison
+ * @bit 7 Computer Vision and Avoidance
  * @reboot_required true
  * @group SD Logging
  */