forked from Archive/PX4-Autopilot
logger: add default ground truth logging for HITL/SITL
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@ -184,6 +184,30 @@ void LoggedTopics::add_default_topics()
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add_topic_multi("vehicle_imu_status", 1000, 4);
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add_optional_topic_multi("vehicle_magnetometer", 500, 4);
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// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
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int32_t sys_ctrl_alloc = 0;
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param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
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if (sys_ctrl_alloc >= 1) {
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add_topic("actuator_motors", 100);
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add_topic("actuator_servos", 100);
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add_topic("vehicle_angular_acceleration", 20);
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add_topic("vehicle_angular_acceleration_setpoint", 20);
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add_topic_multi("vehicle_thrust_setpoint", 20, 2);
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add_topic_multi("vehicle_torque_setpoint", 20, 2);
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}
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// SYS_HITL: default ground truth logging for simulation
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int32_t sys_hitl = 0;
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param_get(param_find("SYS_HITL"), &sys_hitl);
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if (sys_hitl >= 1) {
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add_topic("vehicle_angular_velocity_groundtruth", 10);
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add_topic("vehicle_attitude_groundtruth", 10);
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add_topic("vehicle_global_position_groundtruth", 100);
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add_topic("vehicle_local_position_groundtruth", 20);
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}
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#ifdef CONFIG_ARCH_BOARD_PX4_SITL
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add_topic("actuator_controls_virtual_fw");
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add_topic("actuator_controls_virtual_mc");
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@ -194,7 +218,7 @@ void LoggedTopics::add_default_topics()
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add_topic("vehicle_angular_velocity", 10);
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add_topic("vehicle_attitude_groundtruth", 10);
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add_topic("vehicle_global_position_groundtruth", 100);
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add_topic("vehicle_local_position_groundtruth", 100);
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add_topic("vehicle_local_position_groundtruth", 20);
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// EKF replay
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add_topic("estimator_baro_bias");
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@ -215,19 +239,6 @@ void LoggedTopics::add_default_topics()
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add_topic("wind");
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add_topic("yaw_estimator_status");
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#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
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int32_t sys_ctrl_alloc = 0;
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param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
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if (sys_ctrl_alloc >= 1) {
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add_topic("actuator_motors", 100);
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add_topic("actuator_servos", 100);
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add_topic("vehicle_angular_acceleration", 20);
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add_topic("vehicle_angular_acceleration_setpoint", 20);
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add_topic_multi("vehicle_thrust_setpoint", 20, 2);
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add_topic_multi("vehicle_torque_setpoint", 20, 2);
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}
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}
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void LoggedTopics::add_high_rate_topics()
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