Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-20 11:23:06 +08:00
Code Issues Actions 9 Packages Projects Releases Wiki Activity

logged_topics: remove unused vehicle_angular_acceleration_setpoint, extend add_high_rate_topics

Browse Source
This commit is contained in:
Beat Küng
2022-04-27 11:41:12 +02:00
committed by Daniel Agar
parent 4338976247
commit d94ec84e46
2 changed files with 16 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/logger/logged_topics.cpp
+14 -6
View File
@@ -188,12 +188,13 @@ void LoggedTopics::add_default_topics()
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
_dynamic_control_allocation = sys_ctrl_alloc >= 1;
if (_dynamic_control_allocation) {
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_thrust_setpoint", 20, 1);
add_topic_multi("vehicle_torque_setpoint", 20, 2);
}
@@ -244,8 +245,6 @@ void LoggedTopics::add_default_topics()
void LoggedTopics::add_high_rate_topics()
{
// maximum rate to analyze fast maneuvers (e.g. for racing)
add_topic("actuator_controls_0");
add_topic("actuator_outputs");
add_topic("manual_control_setpoint");
add_topic("rate_ctrl_status", 20);
add_topic("sensor_combined");
@@ -254,6 +253,16 @@ void LoggedTopics::add_high_rate_topics()
add_topic("vehicle_attitude");
add_topic("vehicle_attitude_setpoint");
add_topic("vehicle_rates_setpoint");
if (_dynamic_control_allocation) {
add_topic("actuator_motors");
add_topic("vehicle_thrust_setpoint");
add_topic("vehicle_torque_setpoint");
} else {
add_topic("actuator_controls_0");
add_topic("actuator_outputs");
}
}
void LoggedTopics::add_debug_topics()
@@ -329,7 +338,6 @@ void LoggedTopics::add_system_identification_topics()
add_topic("actuator_controls_1");
add_topic("sensor_combined");
add_topic("vehicle_angular_acceleration");
add_topic("vehicle_angular_acceleration_setpoint");
add_topic("vehicle_torque_setpoint");
}
src/modules/logger/logged_topics.h
+2
View File
@@ -185,6 +185,8 @@ private:
RequestedSubscriptionArray _subscriptions;
int _num_mission_subs{0};
float _rate_factor{1.0f};
bool _dynamic_control_allocation{false};
};
} //namespace logger