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init adjustments to ensure used topics are advertised early (primarily for logging)

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- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
This commit is contained in:
Daniel Agar
2022-03-18 15:04:19 -04:00
parent e6ed595651
commit f4c3084c26
22 changed files with 171 additions and 127 deletions
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src/modules/logger/logged_topics.cpp
+11 -7
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
* Copyright (c) 2019-2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -120,10 +120,10 @@ void LoggedTopics::add_default_topics()
// multi topics
add_optional_topic_multi("actuator_outputs", 100, 3);
add_topic_multi("airspeed_wind", 1000, 4);
add_topic_multi("control_allocator_status", 200, 2);
add_optional_topic_multi("airspeed_wind", 1000, 4);
add_optional_topic_multi("control_allocator_status", 200, 2);
add_optional_topic_multi("rate_ctrl_status", 200, 2);
add_topic_multi("sensor_hygrometer", 500, 4);
add_optional_topic_multi("sensor_hygrometer", 500, 4);
add_optional_topic_multi("rpm", 200);
add_optional_topic_multi("telemetry_status", 1000, 4);
@@ -132,7 +132,7 @@ void LoggedTopics::add_default_topics()
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1;
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed
add_topic("estimator_selector_status");
add_optional_topic("estimator_selector_status");
add_optional_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
@@ -440,7 +440,7 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
if (_subscriptions.sub[j].id == static_cast<ORB_ID>(topics[i]->o_id) &&
_subscriptions.sub[j].instance == instance) {
PX4_DEBUG("logging topic %s(%" PRUu8 "), interval: %" PRUu16 ", already added, only setting interval",
PX4_DEBUG("logging topic %s(%" PRIu8 "), interval: %" PRIu16 ", already added, only setting interval",
topics[i]->o_name, instance, interval_ms);
_subscriptions.sub[j].interval_ms = interval_ms;
@@ -452,7 +452,11 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
if (!already_added) {
success = add_topic(topics[i], interval_ms, instance, optional);
PX4_DEBUG("logging topic: %s(%" PRUu8 "), interval: %" PRUu16, topics[i]->o_name, instance, interval_ms);
if (success) {
PX4_DEBUG("logging topic: %s(%" PRIu8 "), interval: %" PRIu16, topics[i]->o_name, instance, interval_ms);
}
break;
}
}