This only applies parameters from the log file and user-supplied overrides.
It is intended to be called as one of the first startup commands (after
param load), so that during startup, all applications find the parameters
from the replayed system.
Note that this is an optional command and 'replay start' will again load
and apply the parameters in any case.
This adds a new module that does:
- read an parse an ULog file, given via ENV variable 'replay'
- apply all parameters from the log file
- read and apply user-defined override parameters from a file
- publish all messages in 'real-time' from the log file and add a constant
offset to the timestamp to match the system time.
- apply changed parameters in the log (which are not overridden)
If enabled, orb reads a rules file (./rootfs/orb_publisher.rules) on
startup. This can contain rules about which module is allowed to publish
which topic. It is completely transparent, so a publisher does not know
if he's not allowed to publish, and publications will look as if they
succeeded.
To test, add
#define ORB_USE_PUBLISHER_RULES
to uORBManager.hpp
Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.
Note that this breaks the replay format for sdlog2 replay
- voting is now at a central place instead of duplicated within the
estimators
-> this also means that estimators that did not do voting so far,
now have voting, like ekf2
- estimators requiring more than that can still subscribe to the raw
sensors
- allows sensors_combined to be 3 times smaller
- reduces logger, memcpy (cache) & RAM overhead
- all modules requiring only 1 or 2 sensor values now automatically get
the voted result
- this also adds voting to baro
Decreases the message size from 780 to 280 bytes.
In particular, all modules using sensor_combined must use the integral now.
The sensor value can easily be reconstructed by dividing with dt.
Voters now need to be moved into sensors module, because error count and
priority is removed from the topic.
Any module that requires additional data from a sensor can subscribe to
the raw sensor topics.
At two places, values are set to zero instead of subscribing to the raw
sensors (with the assumption that no one reads them):
- mavlink mavlink_highres_imu_t::abs_pressure
- sdlog2: sensor temperatures
These are not really used. differential_pressure is just copied from the
topic with the same name.
for sdlog2 we assume no one needs the diff pressure fields and set it to 0.
We plan to switch to the new logger soon anyway.
Drawbacks of the previous method: when writing to the SD card, there are
high delays in the write() call of several 100ms, every now and then. The
frequency and length of these events depend on:
- SD card
- used logger bandwidth
- bandwidth of gps data (RTCM)
Since the whole gps thread was blocked during this period, it lead to
gps timeouts and lost module.
What we do now is: publish an orb topic with queuing. This makes it async
and the logger takes care of buffering. This means it's best to:
- use high logger rate
- use large logger buffer
- reduce logger bandwith by disabling unused topics
Julian Oes