From feebb241067b5435d726b0e8f0ea5eb854b0a87b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sun, 2 May 2021 11:30:35 -0400 Subject: [PATCH] logger: skip multi-EKF logging if CONSTRAINED_MEMORY --- src/modules/logger/logged_topics.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 2b41edc053..214ea41bbd 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -116,11 +116,11 @@ void LoggedTopics::add_default_topics() add_topic("wind", 1000); // Control allocation topics - add_topic("vehicle_angular_acceleration_setpoint", 20); + add_topic("vehicle_actuator_setpoint", 20); add_topic("vehicle_angular_acceleration", 20); + add_topic("vehicle_angular_acceleration_setpoint", 20); add_topic("vehicle_thrust_setpoint", 20); add_topic("vehicle_torque_setpoint", 20); - add_topic("vehicle_actuator_setpoint", 20); // multi topics add_topic_multi("actuator_outputs", 100, 3); @@ -132,27 +132,27 @@ void LoggedTopics::add_default_topics() // EKF multi topics (currently max 9 estimators) #if CONSTRAINED_MEMORY - static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 2; + static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1; #else static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificailly limited until PlotJuggler fixed + add_topic("estimator_selector_status"); + add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES); + add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES); + add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES); + add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES); #endif - add_topic("estimator_selector_status"); add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES); - add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES); - add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES); - add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES); add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES); - add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES); add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES); // log all raw sensors at minimal rate (at least 1 Hz)