parameter_update.msg: add basic status info

.ci/Jenkinsfile-hardware

@@ -1011,6 +1011,8 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_status_flags"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener logger_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener parameter_update"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_accel_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_baro"'
@@ -1019,7 +1021,6 @@ void statusFTDI() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_gyro_fifo"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensor_mag"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener sensors_status_imu"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener px4io_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener system_power"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener telemetry_status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data"'

msg/parameter_update.msg

@@ -3,3 +3,12 @@
 uint64 timestamp		# time since system start (microseconds)
 
 uint32 instance		# Instance count - constantly incrementing
+
+uint32 get_count
+uint32 set_count
+uint32 find_count
+uint32 export_count
+
+uint16 active
+uint16 changed
+uint16 custom_default

src/lib/parameters/parameters.cpp

@@ -256,13 +256,16 @@ void
 param_notify_changes()
 {
 	parameter_update_s pup{};
-	pup.timestamp = hrt_absolute_time();
 	pup.instance = param_instance++;
+	pup.get_count = perf_event_count(param_get_perf);
+	pup.set_count = perf_event_count(param_set_perf);
+	pup.find_count = perf_event_count(param_find_perf);
+	pup.export_count = perf_event_count(param_export_perf);
+	pup.active = params_active.count();
+	pup.changed = params_changed.count();
+	pup.custom_default = params_custom_default.count();
+	pup.timestamp = hrt_absolute_time();
 
-	/*
-	 * If we don't have a handle to our topic, create one now; otherwise
-	 * just publish.
-	 */
 	if (param_topic == nullptr) {
 		param_topic = orb_advertise(ORB_ID(parameter_update), &pup);
 

src/modules/logger/logged_topics.cpp

@@ -73,6 +73,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("navigator_mission_item");
 	add_topic("offboard_control_mode", 100);
 	add_topic("onboard_computer_status", 10);
+	add_topic("parameter_update");
 	add_topic("position_controller_status", 500);
 	add_topic("position_setpoint_triplet", 200);
 	add_topic("px4io_status");