[log] add logger_utils module

Definitions and tools to abstract ChibiOS/Linux logging.
Use with control effectiveness logger and traffic_info (adding logging
support).

fix alt scaling in ACINFO_LLA message

conf/modules/logger_control_effectiveness.xml

@@ -15,6 +15,9 @@
       <define name="AIRSPEED" value="FALSE|TRUE" description="log airspeed (float)"/>
     </section>
   </doc>
+  <dep>
+    <depends>logger_utils</depends>
+  </dep>
   <header>
     <file name="logger_control_effectiveness.h" />
   </header>

conf/modules/logger_utils.xml

@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="logger_utils" dir="loggers" task="core">
+  <doc>
+    <description>
+      Definitions and tools for logging with ChibiOS and Linux
+    </description>
+  </doc>
+  <header>
+    <file name="logger_utils.h" />
+  </header>
+  <makefile>
+    <file name="logger_utils.c"/>
+    <test/>
+  </makefile>
+</module>

conf/modules/traffic_info.xml

@@ -3,11 +3,16 @@
 <module name="traffic_info" dir="multi" task="core">
   <doc>
     <description>Keeps track of other aircraft in airspace</description>
+    <define name="TRAFFIC_INFO_USE_LOG" value="FALSE|TRUE" description="Enable traffic info logging"/>
   </doc>
+  <dep>
+    <depends>logger_utils</depends>
+  </dep>
   <header>
     <file name="traffic_info.h"/>
   </header>
   <init fun="traffic_info_init()"/>
+  <periodic fun="traffic_info_log()" start="traffic_info_log_start()" stop="traffic_info_log_stop()" autorun="FALSE"/>
 
   <datalink message="ACINFO"      fun="parse_acinfo_dl(buf)"/>
   <datalink message="ACINFO_LLA"  fun="parse_acinfo_dl(buf)"/>
@@ -19,5 +24,8 @@
   <makefile>
     <file name="traffic_info.c"/>
     <define name="TRAFFIC_INFO"/>
+    <test firmware="rotorcraft">
+      <define name="TRAFFIC_INFO_USE_LOG"/>
+    </test>
   </makefile>
 </module>

sw/airborne/modules/loggers/logger_control_effectiveness.c

@@ -24,37 +24,22 @@
  */
 
 #include "modules/loggers/logger_control_effectiveness.h"
+#include "modules/loggers/logger_utils"
 #include "mcu_periph/sys_time.h"
 #include "state.h"
 
 #if USE_CHIBIOS_RTOS
-#include "modules/loggers/sdlog_chibios.h"
-#define LogWrite sdLogWriteLog
-#define LogFileIsOpen() (pprzLogFile != -1)
-#define LogOpen(_file) {}
-#define LogClose(_file) {}
 #define LogFormatHeader "%.5f,%ld,%ld,%ld,%ld,%ld,%ld"
 #define LogFormatVect3 ",%ld,%ld,%ld"
 
 #else // assume Linux based OS
-#include <stdio.h>
-#include <time.h>
-#include <unistd.h>
-static void open_log(FILE* file);
-#define LogWrite fprintf
-#define LogFileIsOpen() (pprzLogFile != NULL)
-#define LogOpen(_file) open_log(_file)
-#define LogClose(_file) { \
-    fclose(_file); \
-    _file = NULL; \
-}
 #define LogFormatHeader "%.5f,%d,%d,%d,%d,%d,%d"
 #define LogFormatVect3 ",%d,%d,%d"
 static FILE* pprzLogFile = NULL;
 
 /* Set the default log path to bebop storage */
 #ifndef LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH
-#define LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH /data/ftp/internal_000
+#define LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH /data/ftp/internal_000/control_eff
 #endif
 
 #endif
@@ -94,9 +79,9 @@ static FILE* pprzLogFile = NULL;
 /** Write the log header line according to the enabled parts */
 void logger_control_effectiveness_start(void)
 {
-  LogOpen(pprzLogFile);
+  LogOpen(pprzLogFile, STRINGIFY(LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH), NULL);
 
-  if (LogFileIsOpen()) {
+  if (LogFileIsOpen(pprzLogFile)) {
     LogWrite(pprzLogFile, "time,gyro_p,gyro_q,gyro_r,ax,ay,az");
 #if LOGGER_CONTROL_EFFECTIVENESS_COMMANDS
     for (unsigned int i = 0; i < COMMANDS_NB; i++) {
@@ -123,7 +108,7 @@ void logger_control_effectiveness_start(void)
 
 void logger_control_effectiveness_stop(void)
 {
-  if (LogFileIsOpen()) {
+  if (LogFileIsOpen(pprzLogFile)) {
     LogClose(pprzLogFile);
   }
 }
@@ -131,7 +116,7 @@ void logger_control_effectiveness_stop(void)
 /** Log the values to file */
 void logger_control_effectiveness_periodic(void)
 {
-  if (LogFileIsOpen()) {
+  if (!LogFileIsOpen(pprzLogFile)) {
     return;
   }
 
@@ -183,45 +168,3 @@ void logger_control_effectiveness_periodic(void)
   LogWrite(pprzLogFile,"\n");
 }
 
-#if !USE_CHIBIOS_RTOS
-static void open_log(FILE *file)
-{
-  // Create output folder if necessary
-  if (access(STRINGIFY(LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH), F_OK)) {
-    char save_dir_cmd[256];
-    sprintf(save_dir_cmd, "mkdir -p %s", STRINGIFY(LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH));
-    if (system(save_dir_cmd) != 0) {
-      printf("[logger] Could not create log file directory %s.\n", STRINGIFY(LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH));
-      return;
-    }
-  }
-
-  // Get current date/time for filename
-  char date_time[80];
-  time_t now = time(0);
-  struct tm  tstruct;
-  tstruct = *localtime(&now);
-  strftime(date_time, sizeof(date_time), "%Y%m%d-%H%M%S", &tstruct);
-
-  uint32_t counter = 0;
-  char filename[512];
-
-  // Check for available files
-  sprintf(filename, "%s/%s.csv", STRINGIFY(LOGGER_CONTROL_EFFECTIVENESS_FILE_PATH), date_time);
-  while ((file = fopen(filename, "r"))) {
-    fclose(file);
-
-    sprintf(filename, "%s/%s_%05d.csv", STRINGIFY(LOGGER_FILE_PATH), date_time, counter);
-    counter++;
-  }
-
-  file = fopen(filename, "w");
-  if(!file) {
-    printf("[logger] ERROR opening log file %s!\n", filename);
-    return;
-  }
-
-  printf("[logger] Start logging to %s...\n", filename);
-}
-#endif
-

sw/airborne/modules/loggers/logger_file.c

@@ -73,7 +73,7 @@ static void logger_file_write_header(FILE *file) {
   fprintf(file, "rpm_ref_1,rpm_ref_2,rpm_ref_3,rpm_ref_4,");
 #endif
 #ifdef INS_EXT_POSE_H
-  ins_ext_pos_log_header(file);
+  ins_ext_pose_log_header(file);
 #endif
 #ifdef COMMAND_THRUST
   fprintf(file, "cmd_thrust,cmd_roll,cmd_pitch,cmd_yaw\n");
@@ -104,7 +104,7 @@ static void logger_file_write_row(FILE *file) {
   fprintf(file, "%d,%d,%d,%d,",actuators_bebop.rpm_ref[0],actuators_bebop.rpm_ref[1],actuators_bebop.rpm_ref[2],actuators_bebop.rpm_ref[3]);
 #endif
 #ifdef INS_EXT_POSE_H
-  ins_ext_pos_log_data(file);
+  ins_ext_pose_log_data(file);
 #endif
 #ifdef COMMAND_THRUST
   fprintf(file, "%d,%d,%d,%d\n",
@@ -121,7 +121,7 @@ void logger_file_start(void)
 {
   // Ensure that the module is running when started with this function
   logger_file_logger_file_periodic_status = MODULES_RUN;
-  
+
   // Create output folder if necessary
   if (access(STRINGIFY(LOGGER_FILE_PATH), F_OK)) {
     char save_dir_cmd[256];

sw/airborne/modules/loggers/logger_utils.c

@@ -0,0 +1,86 @@
+/*
+ * Copyright (C) 2026 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/** @file modules/loggers/logger_utils.c
+ *  @brief Generic definitions and tools for logging on ChibiOS or Linux
+ */
+
+#include "modules/loggers/logger_utils.h"
+
+#if !USE_CHIBIOS_RTOS
+
+#include <time.h>
+#include <stdlib.h>
+#include <stdint.h>
+
+FILE *open_log(char* path, char* name)
+{
+  // Create output folder if necessary
+  if (access(path, F_OK)) {
+    char save_dir_cmd[256];
+    sprintf(save_dir_cmd, "mkdir -p %s", path);
+    if (system(save_dir_cmd) != 0) {
+      printf("[logger] Could not create log file directory %s.\n", path);
+      return NULL;
+    }
+  }
+
+  uint32_t counter = 0;
+  char filename[512];
+  char date_time[80];
+
+  if (name == NULL) {
+    // Get current date/time for filename
+    time_t now = time(0);
+    struct tm  tstruct;
+    tstruct = *localtime(&now);
+    strftime(date_time, sizeof(date_time), "%Y%m%d-%H%M%S", &tstruct);
+    sprintf(filename, "%s/%s.csv", path, date_time);
+  } else {
+    // use specified name
+    sprintf(filename, "%s/%s.csv", path, name);
+  }
+
+  // Check for available files
+  FILE *file;
+  while ((file = fopen(filename, "r"))) {
+    fclose(file);
+
+    if (name == NULL) {
+      sprintf(filename, "%s/%s_%05d.csv", path, date_time, counter);
+    } else {
+      sprintf(filename, "%s/%s_%05d.csv", path, name, counter);
+    }
+    counter++;
+  }
+
+  file = fopen(filename, "w");
+  if(!file) {
+    printf("[logger] ERROR opening log file %s!\n", filename);
+    return NULL;
+  }
+
+  printf("[logger] Start logging to %s...\n", filename);
+  return file;
+}
+
+#endif
+

sw/airborne/modules/loggers/logger_utils.h

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2026 Gautier Hattenberger <gautier.hattenberger@enac.fr>
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with paparazzi; see the file COPYING.  If not, see
+ * <http://www.gnu.org/licenses/>.
+ *
+ */
+
+/** @file modules/loggers/logger_utils.h
+ *  @brief Generic definitions and tools for logging on ChibiOS or Linux
+ */
+
+#ifndef LOGGER_UTILS_H
+#define LOGGER_UTILS_H
+
+#if USE_CHIBIOS_RTOS
+
+#include "modules/loggers/sdlog_chibios.h"
+#define LogWrite sdLogWriteLog
+#define LogFileIsOpen(_file) (_file != -1)
+#define LogOpen(_file, _path, _name) {}
+#define LogClose(_file) {}
+typedef FileDes LogFile_t;
+
+#else // assume Linux based OS
+
+#include <stdio.h>
+#include <unistd.h>
+#define LogWrite fprintf
+#define LogFileIsOpen(_file) (_file != NULL)
+#define LogOpen(_file, _path, _name) { _file = open_log(_path, _name); }
+#define LogClose(_file) { \
+    fclose(_file); \
+    _file = NULL; \
+}
+typedef FILE* LogFile_t;
+
+/** Open a log file.
+ *  If the log name already exists, a counter is the file name is automatically incremented.
+ * @param path log directory
+ * @param name use current time if NULL, specified name otherwise
+ * @return file pointer
+ */
+extern FILE *open_log(char* path, char* name);
+
+#endif
+
+#endif /* LOGGER_UTILS_H */
+

sw/airborne/modules/multi/traffic_info.c

@@ -30,6 +30,7 @@
 #include "generated/flight_plan.h"  // NAV_MSL0
 
 #include "modules/datalink/datalink.h"
+#include "modules/datalink/telemetry.h"
 #include "pprzlink/dl_protocol.h"   // datalink messages
 #include "pprzlink/messages.h"	    // telemetry messages
 
@@ -37,6 +38,19 @@
 #include "math/pprz_geodetic_utm.h"
 #include "math/pprz_geodetic_wgs84.h"
 
+#if TRAFFIC_INFO_USE_LOG
+#include "modules/loggers/logger_utils.h"
+#if !USE_CHIBIOS_RTOS
+static FILE* pprzLogFile = NULL;
+
+/* Set the default log path to bebop storage */
+#ifndef TRAFFIC_INFO_FILE_PATH
+#define TRAFFIC_INFO_FILE_PATH /data/ftp/internal_000/acinfo
+#endif
+
+#endif // !USE_CHIBIOS_RTOS
+#endif // TRAFFIC_INFO_USE_LOG
+
 /* number of ac being tracked */
 uint8_t ti_acs_idx;
 /* index of ac in the list of traffic info aircraft (ti_acs) */
@@ -55,6 +69,7 @@ static void send_acinfo_lla(struct transport_tx *trans, struct link_device *dev)
   uint32_t itow = gps.tow;
   uint16_t speed = (uint16_t)(stateGetHorizontalSpeedNorm_f()*10.f);
   int16_t climb = (int16_t)(stateGetSpeedEnu_f()->z*10.f);
+  int32_t alt = (int32_t)(lla->alt/10);
   uint8_t ac_id = AC_ID;
 
   // broadcast GPS message
@@ -66,8 +81,20 @@ static void send_acinfo_lla(struct transport_tx *trans, struct link_device *dev)
   msg.component_id = 0;
   pprzlink_msg_send_ACINFO_LLA(&msg,
       &course,
-      &lla->lat, &lla->lon, &lla->alt,
+      &lla->lat, &lla->lon, &alt,
       &itow, &speed, &climb, &ac_id);
+
+#if TRAFFIC_INFO_USE_LOG
+  struct LlaCoor_f* lla_f = stateGetPositionLla_f();
+  struct EnuCoor_f* enu_f = stateGetPositionEnu_f();
+  if (LogFileIsOpen(pprzLogFile)) {
+    LogWrite(pprzLogFile, "S,%d,%d,%.7f,%.7f,%.3f,%.3f,%.3f,%.3f,%d,0\n", // 0 at the end to have same length than receive log lines
+        msg.sender_id, msg.receiver_id,
+        DegOfRad(lla_f->lat), DegOfRad(lla_f->lon), lla_f->alt,
+        enu_f->x, enu_f->y, enu_f->z,
+        itow);
+  }
+#endif
 }
 
 void traffic_info_init(void)
@@ -104,10 +131,12 @@ bool parse_acinfo_dl(uint8_t *buf)
 {
   uint8_t sender_id = SenderIdOfPprzMsg(buf);
   uint8_t msg_id = IdOfPprzMsg(buf);
+  uint8_t class_id = pprzlink_get_msg_class_id(buf);
+  uint32_t itow = 0;
 
   /* handle telemetry message */
 #if PPRZLINK_DEFAULT_VER == 2
-  if (pprzlink_get_msg_class_id(buf) == DL_telemetry_CLASS_ID) {
+  if (class_id == DL_telemetry_CLASS_ID) {
 #else
   if (sender_id > 0) {
 #endif
@@ -129,6 +158,7 @@ bool parse_acinfo_dl(uint8_t *buf)
         if (climb & 0x200) {
           climb |= 0xFC00;  // fix for twos complements
         }
+        itow = gps_tow_from_sys_ticks(sys_time.nb_tick);
 
         set_ac_info_lla(sender_id,
                         DL_GPS_SMALL_lat(buf),
@@ -137,10 +167,11 @@ bool parse_acinfo_dl(uint8_t *buf)
                         course,
                         gspeed,
                         climb,
-                        gps_tow_from_sys_ticks(sys_time.nb_tick));
+                        itow);
       }
       break;
       case DL_GPS: {
+        itow = DL_GPS_itow(buf);
         set_ac_info_utm(sender_id,
                     DL_GPS_utm_east(buf),
                     DL_GPS_utm_north(buf),
@@ -149,10 +180,11 @@ bool parse_acinfo_dl(uint8_t *buf)
                     DL_GPS_course(buf),
                     DL_GPS_speed(buf),
                     DL_GPS_climb(buf),
-                    DL_GPS_itow(buf));
+                    itow);
       }
       break;
       case DL_GPS_LLA: {
+        itow = DL_GPS_LLA_itow(buf);
         set_ac_info_lla(sender_id,
                         DL_GPS_LLA_lat(buf),
                         DL_GPS_LLA_lon(buf),
@@ -160,7 +192,7 @@ bool parse_acinfo_dl(uint8_t *buf)
                         DL_GPS_LLA_course(buf),
                         DL_GPS_LLA_speed(buf),
                         DL_GPS_LLA_climb(buf),
-                        DL_GPS_LLA_itow(buf));
+                        itow);
       }
       break;
       case DL_GPS_INT: {
@@ -183,6 +215,7 @@ bool parse_acinfo_dl(uint8_t *buf)
         int16_t course = (int16_t)(10.f * DegOfRad(atan2f(ned_vel_f.y, ned_vel_f.x))); // decideg
         uint16_t gspeed = (uint16_t)(CM_OF_M(FLOAT_VECT2_NORM(ned_vel_f)));
         int16_t climb = (int16_t)(CM_OF_M(-ned_vel_f.z));
+        itow = DL_GPS_INT_tow(buf);
         set_ac_info_lla(sender_id,
                         DL_GPS_INT_lat(buf),
                         DL_GPS_INT_lon(buf),
@@ -190,17 +223,19 @@ bool parse_acinfo_dl(uint8_t *buf)
                         course,
                         gspeed,
                         climb,
-                        DL_GPS_INT_tow(buf));
+                        itow);
       }
       break;
       default:
         return FALSE;
     }
   /* handle datalink message */
-  } else {
+  } else if (class_id == DL_datalink_CLASS_ID) {
     switch (msg_id) {
       case DL_ACINFO: {
-        set_ac_info_utm(DL_ACINFO_ac_id(buf),
+        sender_id = DL_ACINFO_ac_id(buf); // may overwrite GCS id
+        itow = DL_ACINFO_itow(buf);
+        set_ac_info_utm(sender_id,
                         DL_ACINFO_utm_east(buf),
                         DL_ACINFO_utm_north(buf),
                         DL_ACINFO_alt(buf) * 10,
@@ -208,24 +243,39 @@ bool parse_acinfo_dl(uint8_t *buf)
                         DL_ACINFO_course(buf),
                         DL_ACINFO_speed(buf),
                         DL_ACINFO_climb(buf),
-                        DL_ACINFO_itow(buf));
+                        itow);
       }
       break;
       case DL_ACINFO_LLA: {
-        set_ac_info_lla(DL_ACINFO_LLA_ac_id(buf),
+        sender_id = DL_ACINFO_LLA_ac_id(buf); // may overwrite GCS id
+        itow = DL_ACINFO_LLA_itow(buf);
+        set_ac_info_lla(sender_id,
                   DL_ACINFO_LLA_lat(buf),
                   DL_ACINFO_LLA_lon(buf),
                   DL_ACINFO_LLA_alt(buf) * 10,
                   DL_ACINFO_LLA_course(buf),
                   DL_ACINFO_LLA_speed(buf),
                   DL_ACINFO_LLA_climb(buf),
-                  DL_ACINFO_LLA_itow(buf));
+                  itow);
       }
       break;
       default:
         return FALSE;
     }
+  } else {
+    return FALSE; // unsupported class
   }
+#if TRAFFIC_INFO_USE_LOG
+  struct LlaCoor_f* lla_f = acInfoGetPositionLla_f(sender_id);
+  struct EnuCoor_f* enu_f = acInfoGetPositionEnu_f(sender_id);
+  if (LogFileIsOpen(pprzLogFile)) {
+    LogWrite(pprzLogFile, "R,%d,%d,%.7f,%.7f,%.3f,%.3f,%.3f,%.3f,%d,%d\n",
+        sender_id, AC_ID,
+        DegOfRad(lla_f->lat), DegOfRad(lla_f->lon), lla_f->alt,
+        enu_f->x, enu_f->y, enu_f->z,
+        itow, gps.tow);
+  }
+#endif
   return TRUE;
 }
 
@@ -548,3 +598,20 @@ void acInfoCalcVelocityEnu_f(uint8_t ac_id)
   }
   SetBit(ti_acs[ac_nr].status, AC_INFO_VEL_ENU_F);
 }
+
+void traffic_info_log_start(void)
+{
+#if TRAFFIC_INFO_USE_LOG
+  LogOpen(pprzLogFile, STRINGIFY(TRAFFIC_INFO_FILE_PATH), NULL);
+#endif
+}
+
+void traffic_info_log_stop(void)
+{
+#if TRAFFIC_INFO_USE_LOG
+  if (LogFileIsOpen(pprzLogFile)) {
+    LogClose(pprzLogFile);
+  }
+#endif
+}
+

sw/airborne/modules/multi/traffic_info.h

@@ -442,6 +442,11 @@ static inline uint32_t acInfoGetItow(uint8_t ac_id)
   return ti_acs[ti_acs_id[ac_id]].itow;
 }
 
+// Logging functions
+#define traffic_info_log() {}
+extern void traffic_info_log_start(void);
+extern void traffic_info_log_stop(void);
+
 /** @}*/
 
 #endif