From df8c1a14893516fedb4d155e4d5630a813144542 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 1 Mar 2017 14:32:24 +0100 Subject: [PATCH] logger: log ekf2_replay topic if EKF2_REC_RPL is set --- src/modules/logger/logger.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index 80c0e165c8..7ca9ac563c 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -591,6 +591,18 @@ void Logger::add_default_topics() add_topic("sensor_combined"); add_topic("vehicle_gps_position"); add_topic("vehicle_land_detected"); + + // log the replay topic if EKF2_REC_RPL is set + param_t replay_handle = param_find("EKF2_REC_RPL"); + + if (replay_handle != PARAM_INVALID) { + int32_t replay_value = 0; + param_get(replay_handle, &replay_value); + + if (replay_value == 1) { + add_topic("ekf2_replay"); + } + } } void Logger::add_calibration_topics()