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logger: add new mask for high rate sensors

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This commit is contained in:
Jacob Dahl
2025-05-22 17:42:09 -08:00
committed by Beat Küng
parent c9145a24b4
commit 3bbe3e5268
3 changed files with 17 additions and 2 deletions
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src/modules/logger/logged_topics.cpp
+12
View File
@@ -363,6 +363,14 @@ void LoggedTopics::add_system_identification_topics()
add_topic("actuator_motors"); add_topic("actuator_motors");
} }
void LoggedTopics::add_high_rate_sensors_topics()
{
add_topic_multi("distance_sensor", 0, 4);
add_topic_multi("sensor_optical_flow", 0, 2);
add_topic_multi("sensor_gps", 0, 4);
add_topic_multi("sensor_mag", 0, 4);
}
void LoggedTopics::add_mavlink_tunnel() void LoggedTopics::add_mavlink_tunnel()
{ {
add_topic("mavlink_tunnel"); add_topic("mavlink_tunnel");
@@ -578,4 +586,8 @@ void LoggedTopics::initialize_configured_topics(SDLogProfileMask profile)
if (profile & SDLogProfileMask::MAVLINK_TUNNEL) { if (profile & SDLogProfileMask::MAVLINK_TUNNEL) {
add_mavlink_tunnel(); add_mavlink_tunnel();
} }
if (profile & SDLogProfileMask::HIGH_RATE_SENSORS) {
add_high_rate_sensors_topics();
}
} }
src/modules/logger/logged_topics.h
+3 -1
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@@ -54,7 +54,8 @@ enum class SDLogProfileMask : int32_t {
VISION_AND_AVOIDANCE = 1 << 7, VISION_AND_AVOIDANCE = 1 << 7,
RAW_IMU_GYRO_FIFO = 1 << 8, RAW_IMU_GYRO_FIFO = 1 << 8,
RAW_IMU_ACCEL_FIFO = 1 << 9, RAW_IMU_ACCEL_FIFO = 1 << 9,
MAVLINK_TUNNEL = 1 << 10 MAVLINK_TUNNEL = 1 << 10,
HIGH_RATE_SENSORS = 1 << 11
}; };
enum class MissionLogType : int32_t { enum class MissionLogType : int32_t {
@@ -175,6 +176,7 @@ private:
void add_raw_imu_gyro_fifo(); void add_raw_imu_gyro_fifo();
void add_raw_imu_accel_fifo(); void add_raw_imu_accel_fifo();
void add_mavlink_tunnel(); void add_mavlink_tunnel();
void add_high_rate_sensors_topics();
/** /**
* add a logged topic (called by add_topic() above). * add a logged topic (called by add_topic() above).
src/modules/logger/params.c
+2 -1
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@@ -129,7 +129,7 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
* 10: Logging of mavlink tunnel message (useful for payload communication debugging) * 10: Logging of mavlink tunnel message (useful for payload communication debugging)
* *
* @min 0 * @min 0
* @max 2047 * @max 4095
* @bit 0 Default set (general log analysis) * @bit 0 Default set (general log analysis)
* @bit 1 Estimator replay (EKF2) * @bit 1 Estimator replay (EKF2)
* @bit 2 Thermal calibration * @bit 2 Thermal calibration
@@ -141,6 +141,7 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
* @bit 8 Raw FIFO high-rate IMU (Gyro) * @bit 8 Raw FIFO high-rate IMU (Gyro)
* @bit 9 Raw FIFO high-rate IMU (Accel) * @bit 9 Raw FIFO high-rate IMU (Accel)
* @bit 10 Mavlink tunnel message logging * @bit 10 Mavlink tunnel message logging
* @bit 11 High rate sensors
* @reboot_required true * @reboot_required true
* @group SD Logging * @group SD Logging
*/ */