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logger: PX4_SITL log all ekf2 publications at full rate for replay

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Daniel Agar
2022-01-27 21:42:17 -05:00
committed by Beat Küng
parent d2ce9a8560
commit 0104b84289
2 changed files with 20 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/rc.replay
+1
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@@ -21,6 +21,7 @@ ignore_others: false
EOF EOF
param set SDLOG_DIRS_MAX 7 param set SDLOG_DIRS_MAX 7
param set SDLOG_PROFILE 3
# apply all params before ekf starts, as some params cannot be changed after startup # apply all params before ekf starts, as some params cannot be changed after startup
replay tryapplyparams replay tryapplyparams
src/modules/logger/logged_topics.cpp
+19
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@@ -191,6 +191,25 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_attitude_groundtruth", 10); add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100); add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 100); add_topic("vehicle_local_position_groundtruth", 100);
// EKF replay
add_topic("ekf_gps_drift");
add_topic("estimator_baro_bias");
add_topic("estimator_event_flags");
add_topic("estimator_innovation_test_ratios");
add_topic("estimator_innovation_variances");
add_topic("estimator_innovations");
add_topic("estimator_optical_flow_vel");
add_topic("estimator_sensor_bias");
add_topic("estimator_states");
add_topic("estimator_status");
add_topic("estimator_status_flags");
add_topic("estimator_visual_odometry_aligned");
add_topic("vehicle_attitude");
add_topic("vehicle_global_position");
add_topic("vehicle_local_position");
add_topic("wind");
add_topic("yaw_estimator_status");
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */ #endif /* CONFIG_ARCH_BOARD_PX4_SITL */