logger: add high rate & debug profiles

src/modules/logger/logger.cpp

@@ -580,6 +580,24 @@ void Logger::add_common_topics()
 	add_topic("wind_estimate", 200);
 }
 
+void Logger::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("vehicle_attitude");
+	add_topic("vehicle_attitude_setpoint");
+	add_topic("vehicle_rates_setpoint");
+}
+
+void Logger::add_debug_topics()
+{
+	add_topic("debug_key_value");
+	add_topic("debug_value");
+	add_topic("debug_vect");
+}
+
 void Logger::add_estimator_replay_topics()
 {
 	// for estimator replay (need to be at full rate)
@@ -601,7 +619,6 @@ void Logger::add_estimator_replay_topics()
 
 void Logger::add_thermal_calibration_topics()
 {
-	// Note: try to avoid setting the interval where possible, as it increases RAM usage
 	add_topic("sensor_accel", 100);
 	add_topic("sensor_baro", 100);
 	add_topic("sensor_gyro", 100);
@@ -741,6 +758,15 @@ void Logger::run()
 			add_common_topics();
 			add_system_identification_topics();
 
+		} else if (sdlog_profile == SDLogProfile::HIGH_RATE) {
+			add_common_topics();
+			add_estimator_replay_topics();
+			add_high_rate_topics();
+
+		} else if (sdlog_profile == SDLogProfile::DEBUG_TOPICS) {
+			add_common_topics();
+			add_debug_topics();
+
 		} else {
 			add_common_topics();
 			add_estimator_replay_topics();

src/modules/logger/logger.h

@@ -65,6 +65,8 @@ enum class SDLogProfile : int32_t {
 	DEFAULT = 0,
 	THERMAL_CALIBRATION,
 	SYSTEM_IDENTIFICATION,
+	HIGH_RATE,
+	DEBUG_TOPICS,
 	N_PROFILES
 };
 
@@ -270,6 +272,8 @@ private:
 	void add_estimator_replay_topics();
 	void add_thermal_calibration_topics();
 	void add_system_identification_topics();
+	void add_high_rate_topics();
+	void add_debug_topics();
 
 	void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, vehicle_command_s *cmd, uint32_t result);
 

src/modules/logger/params.c

@@ -78,9 +78,11 @@ PARAM_DEFINE_INT32(SDLOG_MODE, 0);
  * @value 0 default
  * @value 1 thermal calibration
  * @value 2 system identification
+ * @value 3 high rate
+ * @value 4 debug topics
  *
  * @min 0
- * @max 2
+ * @max 4
  * @reboot_required true
  * @group SD Logging
  */