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logger: add default ground truth logging for HITL/SITL

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Daniel Agar 2022-04-24 12:45:23 -04:00 committed by GitHub
parent 680fe86c05
commit 503f97c8bc
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 25 additions and 14 deletions
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39
src/modules/logger/logged_topics.cpp
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@ -184,6 +184,30 @@ void LoggedTopics::add_default_topics()
add_topic_multi("vehicle_imu_status", 1000, 4);
add_optional_topic_multi("vehicle_magnetometer", 500, 4);
// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
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_torque_setpoint", 20, 2);
}
// SYS_HITL: default ground truth logging for simulation
int32_t sys_hitl = 0;
param_get(param_find("SYS_HITL"), &sys_hitl);
if (sys_hitl >= 1) {
add_topic("vehicle_angular_velocity_groundtruth", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 20);
}
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw");
add_topic("actuator_controls_virtual_mc");
@ -194,7 +218,7 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_angular_velocity", 10);
add_topic("vehicle_attitude_groundtruth", 10);
add_topic("vehicle_global_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 100);
add_topic("vehicle_local_position_groundtruth", 20);
// EKF replay
add_topic("estimator_baro_bias");
@ -215,19 +239,6 @@ void LoggedTopics::add_default_topics()
add_topic("wind");
add_topic("yaw_estimator_status");
#endif /* CONFIG_ARCH_BOARD_PX4_SITL */
int32_t sys_ctrl_alloc = 0;
param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
if (sys_ctrl_alloc >= 1) {
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_torque_setpoint", 20, 2);
}
}
void LoggedTopics::add_high_rate_topics()