From 01541bb10d98f17c44cb11a118bba3df49d5ddd6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 3 Mar 2017 08:33:42 +0100 Subject: [PATCH] logger: switch from ekf2_replay to ekf2_timestamps topic, enable by default --- src/modules/logger/logger.cpp | 19 ++++--------------- 1 file changed, 4 insertions(+), 15 deletions(-) diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index 7ca9ac563c..6a4f147421 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -551,7 +551,6 @@ void Logger::add_default_topics() add_topic("actuator_outputs", 50); add_topic("telemetry_status"); add_topic("vehicle_command"); - add_topic("vehicle_status"); add_topic("vtol_vehicle_status", 100); add_topic("commander_state", 100); add_topic("satellite_info"); @@ -572,9 +571,7 @@ void Logger::add_default_topics() add_topic("optical_flow", 50); add_topic("rc_channels"); add_topic("input_rc"); - add_topic("airspeed", 50); add_topic("differential_pressure", 50); - add_topic("distance_sensor", 20); add_topic("esc_status", 20); add_topic("estimator_status", 50); //this one is large add_topic("ekf2_innovations", 20); @@ -588,21 +585,13 @@ void Logger::add_default_topics() add_topic("task_stack_info"); /* for estimator replay (need to be at full rate) */ + add_topic("airspeed"); + add_topic("distance_sensor"); + add_topic("ekf2_timestamps"); add_topic("sensor_combined"); add_topic("vehicle_gps_position"); add_topic("vehicle_land_detected"); - - // log the replay topic if EKF2_REC_RPL is set - param_t replay_handle = param_find("EKF2_REC_RPL"); - - if (replay_handle != PARAM_INVALID) { - int32_t replay_value = 0; - param_get(replay_handle, &replay_value); - - if (replay_value == 1) { - add_topic("ekf2_replay"); - } - } + add_topic("vehicle_status"); } void Logger::add_calibration_topics()