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136 Commits

Author SHA1 Message Date
Mohammed Kabir
b146e7afde logger : log geotagging packet 2017-05-12 22:11:17 +02:00
Beat Küng
1d1eedb086 logger: register shutdown hook for graceful shutdown 
This will avoid file system corruptions in cases where px4_shutdown_request
is used. However it will not help obviously when the battery is pulled
directly.
 2017-04-20 10:01:51 +02:00
Beat Küng
24380ae88c logger: add SDLOG_DIRS_MAX param to limit the max number of log directories 
Disabled by default, so that logs are not deleted unexpectedly.
 2017-04-10 23:37:09 +02:00
Beat Küng
75bd4f1121 logger: implement a logrotate 
Remove old log directories on startup if free space falls below a threshold.
The threshold is 300MB or 10% of the disk capacity if that's smaller.
 2017-04-10 23:37:09 +02:00
Beat Küng
2a175aa2f9 logger: use nullptr instead of NULL 2017-04-01 20:19:52 +02:00
Beat Küng
190c14c186 logger: add preflight & postflight process usage & perf counters to the log 
For the process usage: we need to measure over a certain period of time,
then we can use the results. To avoid blocking, this does:
- after log is started, initialze the load counters, then one second later
  add the results to the log
- after disarming: continue logging for one more second, then add the process
  load to the log and stop logging.
- to avoid a delay, 'logger stop' will stop immediately and not log
  postflight process usage.
 2017-04-01 20:19:52 +02:00
Beat Küng
358bcb6ae0 visibility.h: add #pragma GCC poison getenv setenv putenv 
Just to make sure that it will never be used on NuttX. This is not an
architectural limitation, just a memory optimization, since we call
clearenv() on NuttX.
 2017-03-29 23:02:09 +02:00
Lorenz Meier
e4c012289f Logger: Sync setpoints and states to same rates 2017-03-12 11:10:19 +01:00
Lorenz Meier
f7e4d8453d Logger: Drop position_setpoint_triplet to 5 Hz since its not required at such a high rate in analysis 2017-03-12 11:06:40 +01:00
Beat Küng
4811ab6b13 logger: reduce rate of some topics 
In SITL, logging rate reduces from 70kB/s to 45kB/s.
 2017-03-11 10:30:38 +01:00
Beat Küng
01541bb10d logger: switch from ekf2_replay to ekf2_timestamps topic, enable by default 2017-03-04 22:47:54 +08:00
Beat Küng
df8c1a1489 logger: log ekf2_replay topic if EKF2_REC_RPL is set 2017-03-04 22:47:54 +08:00
Beat Küng
45ffb190e3 logger: add -p <topic> option to poll on a topic instead of running at fixed rate 
this will be needed for fast replay. In addition, this option disables
the orb interval.
It can be removed again once we have time simulation.
 2017-03-04 22:47:54 +08:00
Kabir Mohammed
444005f290 logger : Log new vision topics 2017-02-15 21:48:33 +01:00
David Sidrane
138f0378a7 logger uses simpler common bord indentity api 2017-02-04 22:27:04 +01:00
Beat Küng
5c2fa034da load_mon: rename low_stack -> task_stack_info & always publish it 
- use uorb queue to not drop any info, only do 2 tasks per cycle
- also print a warning on low stack (which will be added to ulog)

this allows to gather statistics of each task's stack usage over time.
 2017-02-04 12:15:59 +01:00
Daniel Agar
e927f3e040 clang-tidy modernize-use-nullptr 2017-02-01 22:15:50 -05:00
Beat Küng
97d7164b64 logger: remove actuator_controls from list of default topics 
this was actually never published, only _0, _1, ... get published
 2017-02-01 08:40:23 +01:00
David Sidrane
6ab32f1632 logger uses common board api for mcu_version 2017-01-26 08:39:12 +01:00
David Sidrane
5c239ffb0b logger uses board_get_uuid_formated32 instead of mcu_unique_id 
Replace the creation of uuid string with the board common api
  board_get_uuid_formated32 as opposed to using mcu_unique_id
  and printf.
 2017-01-25 07:43:11 +01:00
Paul Riseborough
3a029e58c7 logger: Add mode for thermal calibration logging 
Logs the IMU and baro data at 10Hz
 2017-01-21 11:48:02 +01:00
Beat Küng
30f80515ec fix logger: sscanf was used wrong for custom topics file 
using scanf with %s reads until the first whitespace, which included the
comma (as per C standard and tested on linux). Behavior on NuttX differs.

This makes it work on both Linux and Nuttx.
 2017-01-09 11:09:37 +01:00
Lorenz Meier
38d27e284f Logger: Header cleanup 2016-12-27 21:00:51 +01:00
Beat Küng
3d0f1e4a4f logger: use better variable names for chip name description 2016-12-21 11:35:10 +01:00
Beat Küng
5ad2595f43 logger: add more version info & uuid 
in particular:
- SW release version (in addition to the git hash)
- OS version (tag + git hash if exists)
- mcu version & revision & UUID
- toolchain version

The uuid can be disabled via parameter, it's enabled by default.
 2016-12-21 11:35:10 +01:00
Beat Küng
41dc34204c version cleanup: move all version information into version.c and use a common API 
The provided versioning information is the same, except for some additions,
like OS version (which still need to be implemented on NuttX).
 2016-12-21 11:35:10 +01:00
Beat Küng
c662113527 board_name.c: remove the file and HW_ARCH macro, use px4_board_name() instead 
boards define BOARD_NAME, so board_name() is not necessary. HW_ARCH was
just a wrapper around board_name().

This patch simplifies to having only one common method px4_board_name().
 2016-12-21 11:35:10 +01:00
David Sidrane
c9f10107c0 Nuttx Upgrade:Adds sem_setprotocol 2016-12-21 08:34:21 +01:00
Andreas Antener
a74269ec60 Load monitor: adding stack logging to logger 2016-12-09 21:12:12 +01:00
Daniel Agar
0fa79eab5c add differential_pressure to airspeed logging 2016-11-19 15:15:36 +01:00
Paul Riseborough
81dc20ea86 logger: add preflight sensor check messages 2016-11-19 15:12:08 +01:00
James Goppert
3511f8abfb Add position ground truth. (#5819) 
Have confirmed this works with gazebo sitl.
 2016-11-09 19:38:38 -05:00
Beat Küng
00cd2902c7 fix logger: avoid leaking file descriptor in get_log_time() 
orb_subscribe can succeed, but if there is no publisher, orb_copy will fail.
We still need to unsubscribe in that case.
 2016-10-31 12:41:04 +01:00
Beat Küng
f7d8612bc9 logger: enable all backends by default 
This requires ~270B more RAM
 2016-10-23 15:25:20 +02:00
Beat Küng
09d8e4fd8c logger: reduce stack size, which got freed in 05a771152520 
commit msg: 'logger: avoid uORB::Subscription, directly use orb_subscribe() instead'
 2016-10-23 15:25:20 +02:00
Beat Küng
64df463a85 logger: avoid setting the interval for topics where not needed 
Saves some RAM, although not much in that case. But all subscriptions
combined need ~1.5KB only for the interval data within uORB.
 2016-10-23 15:25:20 +02:00
Beat Küng
7140914d38 logger: remove LoggerSubscription::time_tried_subscribe 
Instead use a single timestamp for subscription checks. This frees up
~800B of RAM.

Also make sure the subscription checks are distributed over time. On each
update, at most 1 topic subscription is checked. Reduces the load of the
logger from 7.3% to 5.8% (Pixracer)
 2016-10-23 15:25:20 +02:00
Beat Küng
f244a78368 logger: avoid uORB::Subscription, directly use orb_subscribe() instead 
This frees up ~160B stack size
 2016-10-23 15:25:20 +02:00
Beat Küng
4120cd93df logger: make sure structs are properly aligned 
ulog_message_info_header_s *msg = reinterpret_cast<ulog_message_info_header_s *>(buffer);
members of msg could end up unaligned, because of the uint8_t buffer.
 2016-10-23 15:25:20 +02:00
Beat Küng
326800e5a8 logger: increase stack size 
evaluated with: logger start -e -t -m all
and then make sure to get an error printf in the mavlink writer backend,
eg. for an ack timeout.
 2016-10-19 13:13:47 +02:00
Beat Küng
8e0d548f51 logger: increase default queue size for mavlink logging to 14 
tested on Pixracer: 14 still produces some dropouts once in a while, but I
think it's a fair tradefoff between RAM usage & dropouts. The queue needs
about 3.5KB of RAM.

When topic sizes/logging rates change, this will have to be reevaluated.
 2016-10-19 13:13:47 +02:00
Beat Küng
f29a50df31 logger: add support for mavlink backend in Logger class, handle start/stop 2016-10-19 13:13:47 +02:00
Beat Küng
b233753e23 logger: don't exit if directory creation failed & mavlink mode enabled 2016-10-19 13:13:47 +02:00
Beat Küng
8ea38bc278 logger: better status output with configured backend mode 2016-10-19 13:13:47 +02:00
Beat Küng
7a60c1296e logger: re-use subscribed topic id's, only set them once on first use 
Will be necessary when using multiple backends in parallel.
 2016-10-19 13:13:47 +02:00
Beat Küng
12ded377d1 refactor logger: add need_reliable_transfer flag, remove write_wait 2016-10-19 13:13:47 +02:00
Beat Küng
de20f1778e logger: add -m <mode> and -q <queue_size> parameters, prepare for mavlink backend 2016-10-19 13:13:47 +02:00
Beat Küng
1ddddccb81 logger: move thread start/stop logic into LogWriterFile 2016-10-19 13:13:47 +02:00
Beat Küng
ccdaabc7fb refactor logger: prepare for multiple write backends 2016-10-19 13:13:47 +02:00
Beat Küng
4e1a4440ca logger: remove _enabled attribute and add LogWriter::is_started() instead 2016-10-19 13:13:47 +02:00