mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
191 lines
12 KiB
Markdown
191 lines
12 KiB
Markdown
# 日志
|
|
|
|
The [system logger](../modules/modules_system.md#logger) is able to log any ORB topic with all included fields.
|
|
Everything necessary is generated from the `.msg` file, so that only the topic name needs to be specified.
|
|
An optional interval parameter specifies the maximum logging rate of a certain topic.
|
|
所有主题的实例将会被记录。
|
|
|
|
The output log format is [ULog](../dev_log/ulog_file_format.md).
|
|
|
|
[Encrypted logging](../dev_log/log_encryption.md) is also supported.
|
|
|
|
## 用法
|
|
|
|
By default, logging is automatically started when arming, and stopped when disarming.
|
|
每次解锁后的飞行对话将会在 SD 卡上生成一个新的日志文件。
|
|
To display the current state, use `logger status` on the console.
|
|
If you want to start logging immediately, use `logger on`.
|
|
This overrides the arming state, as if the system was armed.
|
|
`logger off` undoes this.
|
|
|
|
If logging stops due to a write error, or reaching the [maximum file size](#file-size-limitations), PX4 will automatically restart logging in a new file.
|
|
|
|
对于所有支持的记录器命令和参数的列表，使用：
|
|
|
|
```
|
|
logger help
|
|
```
|
|
|
|
## 配置
|
|
|
|
The logging system is configured by default to collect sensible logs for [flight reporting](../getting_started/flight_reporting.md) with [Flight Review](http://logs.px4.io).
|
|
|
|
Logging may further be configured using the [SD Logging](../advanced_config/parameter_reference.md#sd-logging) parameters.
|
|
The parameters you are most likely to change are listed below.
|
|
|
|
| 参数 | 描述 |
|
|
| --------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
|
|
| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE) | 日志模式 Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
|
|
| [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration). |
|
|
| [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance. |
|
|
|
|
Useful settings for specific cases:
|
|
|
|
- Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
|
|
- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)
|
|
|
|
### Logger module
|
|
|
|
_Developers_ can further configure what information is logged via the [logger](../modules/modules_system.md#logger) module.
|
|
This allows, for example, logging of your own uORB topics.
|
|
|
|
### 诊断
|
|
|
|
Separately, the list of logged topics can also be customized with a file on the SD card.
|
|
Create a file `etc/logging/logger_topics.txt` on the card with a list of topics (For SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`):
|
|
|
|
```plain
|
|
<topic_name> <interval> <instance>
|
|
```
|
|
|
|
The `<interval>` is optional, and if specified, defines the minimum interval in ms between two logged messages of this topic.
|
|
If not specified, the topic is logged at full rate.
|
|
|
|
The `<instance>` is optional, and if specified, defines the instance to log.
|
|
If not specified, all instances of the topic are logged.
|
|
To specify `<instance>`, `<interval>` must be specified. It can be set to 0 to log at full rate
|
|
|
|
The topics in this file replace all of the default logged topics.
|
|
|
|
By far the best card we know so far is the <strong x-id="1">SanDisk Extreme U3 32GB</strong>. This card is recommended, because it does not exhibit write time spikes (and thus virtually no dropouts). Different card sizes might work equally well, but the performance is usually different.
|
|
|
|
```plain
|
|
sensor_accel 0 0
|
|
sensor_accel 100 1
|
|
sensor_gyro 200
|
|
sensor_mag 200 1
|
|
```
|
|
|
|
This configuration will log sensor_accel 0 at full rate, sensor_accel 1 at 10Hz, all sensor_gyro instances at 5Hz and sensor_mag 1 at 5Hz.
|
|
|
|
## 脚本
|
|
|
|
There are several scripts to analyze and convert logging files in the [pyulog](https://github.com/PX4/pyulog) repository.
|
|
|
|
## File size limitations
|
|
|
|
The maximum file size depends on the file system and OS.
|
|
The size limit on NuttX is currently around 2GB.
|
|
|
|
## 丢帧
|
|
|
|
Logging dropouts are undesired and there are a few factors that influence the
|
|
amount of dropouts:
|
|
|
|
- Most SD cards we tested exhibit multiple pauses per minute. This shows itself as a several 100 ms delay during a write command. It causes a dropout if the write buffer fills up during this time. This effect depends on the SD card (see below).
|
|
This shows itself as a several 100 ms delay during a write command.
|
|
It causes a dropout if the write buffer fills up during this time.
|
|
This effect depends on the SD card (see below).
|
|
- 格式化 SD 卡有助于避免丢帧。
|
|
- 增大日志缓存也有效。
|
|
- Decrease the logging rate of selected topics or remove unneeded topics from being logged (`info.py <file>` is useful for this).
|
|
|
|
## SD 卡
|
|
|
|
The maximum supported SD card size for NuttX is 32GB (SD Memory Card Specifications Version 2.0).
|
|
The **SanDisk Extreme U3 32GB** and **Samsung EVO Plus 32** are known to be reliable cards (do not exhibit write-time spikes, and thus virtually no dropouts).
|
|
|
|
The table below shows the **mean sequential write speed [KB/s]** / **maximum write time per block (average) [ms]** for F4- (Pixracer), F7-, and H7-based flight controllers.
|
|
|
|
| SD Card | F4 | F7 | H7 |
|
|
| -------------------------------------------------------------------------------- | ------------- | ---------- | --------- |
|
|
| SanDisk Extreme U3 32GB | 1500 / **15** | 1800/10 | 2900/8 |
|
|
| Samsung EVO Plus 32GB | 1700/10-60 | 1800/10-60 | 1900/9-60 |
|
|
| Sandisk Ultra Class 10 8GB | 348 / 40 | ?/? | ?/? |
|
|
| Sandisk Class 4 8GB | 212 / 60 | ?/? | ?/? |
|
|
| SanDisk Class 10 32 GB (High Endurance Video Monitoring Card) | 331 / 220 | ?/? | ?/? |
|
|
| Lexar U1 (Class 10), 16GB High-Performance | 209 / 150 | ?/? | ?/? |
|
|
| Sandisk Ultra PLUS Class 10 16GB | 196 /500 | ?/? | ?/? |
|
|
| Sandisk Pixtor Class 10 16GB | 334 / 250 | ?/? | ?/? |
|
|
| Sandisk Extreme PLUS Class 10 32GB | 332 / 150 | ?/? | ?/? |
|
|
|
|
Logging bandwidth with the default topics is around 50 KB/s, which almost all SD cards satisfy in terms of their mean sequential write speed.
|
|
|
|
More important than the mean write speed is spikes (or generally high values) in the maximum write time per block (of 4 KB) or `fsync` times, as a long write time means a larger log buffer is needed to avoid dropouts.
|
|
|
|
PX4 uses bigger buffers on F7/H7 and read caching, which is enough to compensate for spikes in many poor cards.
|
|
That said, if your card has an `fsync` or write duration of several 100ms it is should not be preferred for use with PX4.
|
|
You can check the value by running [sd_bench](../modules/modules_command.md#sd-bench) should be run with more iterations (around 100 should do).
|
|
|
|
```sh
|
|
sd_bench -r 100
|
|
```
|
|
|
|
并且同一时刻只能有一个客户机可以请求日志流。
|
|
PX4 uses bigger buffers on F7/H7 and read caching to make up for some of these issues.
|
|
|
|
:::info
|
|
If you have concerns about a particular card you can run the above test and report the results to https://github.com/PX4/PX4-Autopilot/issues/4634.
|
|
:::
|
|
|
|
## 日志流
|
|
|
|
The traditional and still fully supported way to do logging is using an SD card on the FMU.
|
|
However there is an alternative, log streaming, which sends the same logging data via MAVLink.
|
|
This method can be used for example in cases where the FMU does not have an SD card slot (e.g. Intel® Aero Ready to Fly Drone) or simply to avoid having to deal with SD cards.
|
|
Both methods can be used independently and at the same time.
|
|
|
|
The requirement is that the link provides at least ~50KB/s, so for example a WiFi link.
|
|
And only one client can request log streaming at the same time.
|
|
The connection does not need to be reliable, the protocol is designed to handle drops.
|
|
|
|
There are different clients that support ulog streaming:
|
|
|
|
- `mavlink_ulog_streaming.py` script in PX4-Autopilot/Tools.
|
|
- QGroundControl:
|
|
|
|
- [MAVGCL](https://github.com/ecmnet/MAVGCL)
|
|
|
|
### Diagnostics
|
|
|
|
- If log streaming does not start, make sure the `logger` is running (see above), and inspect the console output while starting.
|
|
- If it still does not work, make sure that Mavlink 2 is used. Enforce it by setting <code>MAV_PROTO_VER</code> to 2.
|
|
Enforce it by setting `MAV_PROTO_VER` to 2.
|
|
- Log streaming uses a maximum of 70% of the configured MAVLink rate (`-r` parameter).
|
|
如果需要更大的速率，数据会丢失。
|
|
The currently used percentage can be inspected with `mavlink status` (1.8% is used in this example):
|
|
|
|
```sh
|
|
instance #0:
|
|
GCS heartbeat: 160955 us ago
|
|
mavlink chan: #0
|
|
type: GENERIC LINK OR RADIO
|
|
flow control: OFF
|
|
rates:
|
|
tx: 95.781 kB/s
|
|
txerr: 0.000 kB/s
|
|
rx: 0.021 kB/s
|
|
rate mult: 1.000
|
|
ULog rate: 1.8% of max 70.0%
|
|
accepting commands: YES
|
|
MAVLink version: 2
|
|
transport protocol: UDP (14556)
|
|
```
|
|
|
|
Also make sure `txerr` stays at 0.
|
|
Also make sure <code>txerr</code> stays at 0. If this goes up, either the NuttX sending buffer is too small, the physical link is saturated or the hardware is too slow to handle the data.
|
|
|
|
## See Also
|
|
|
|
- [Encrypted logging](../dev_log/log_encryption.md)
|