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logger: add default ground truth logging for HITL/SITL

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This commit is contained in:
Daniel Agar
2022-04-24 12:45:23 -04:00
committed by GitHub
parent 680fe86c05
commit 503f97c8bc
1 changed files with 25 additions and 14 deletions
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src/modules/logger/logged_topics.cpp
+25 -14
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@@ -184,6 +184,30 @@ void LoggedTopics::add_default_topics()
add_topic_multi("vehicle_imu_status", 1000, 4); add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4); add_optional_topic_multi("vehicle_magnetometer", 500, 4);
// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 2);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
}
// SYS_HITL: default ground truth logging for simulation
int32_t sys_hitl = 0;
param_get(param_find("SYS_HITL"), &sys_hitl);
if (sys_hitl >= 1) {
add_topic("vehicle_angular_velocity_groundtruth", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 20);
}
#ifdef CONFIG_ARCH_BOARD_PX4_SITL #ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw"); add_topic("actuator_controls_virtual_fw");
add_topic("actuator_controls_virtual_mc"); add_topic("actuator_controls_virtual_mc");
@@ -194,7 +218,7 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_angular_velocity", 10); add_topic("vehicle_angular_velocity", 10);
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", 20);
// EKF replay // EKF replay
add_topic("estimator_baro_bias"); add_topic("estimator_baro_bias");
@@ -215,19 +239,6 @@ void LoggedTopics::add_default_topics()
add_topic("wind"); add_topic("wind");
add_topic("yaw_estimator_status"); add_topic("yaw_estimator_status");
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */ #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
add_topic("actuator_motors", 100);
add_topic("actuator_servos", 100);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic_multi("vehicle_thrust_setpoint", 20, 2);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
}
} }
void LoggedTopics::add_high_rate_topics() void LoggedTopics::add_high_rate_topics()