Add logging profiles to logger module.

ROMFS/px4fmu_common/init.d/rcS

@@ -871,7 +871,8 @@ then
 			if ver hwcmp PX4FMU_V5
 			then
 				set LOGGER_BUF 64
-				param set SDLOG_MODE 3
+				param set SDLOG_MODE 2
+				param set SDLOG_PROFILE 2
 			fi
 			if param compare SDLOG_MODE 1
 			then
@@ -881,10 +882,6 @@ then
 			then
 				set LOGGER_ARGS "-f"
 			fi
-			if param compare SDLOG_MODE 3
-			then
-				set LOGGER_ARGS "-f"
-			fi
 			if ver hwcmp AEROFC_V1
 			then
 				set LOGGER_ARGS "-m mavlink"

Tools/process_sensor_caldata.py

@@ -16,7 +16,7 @@ Data can be gathered using the following sequence:
 1) Power up the board and set the TC_A_ENABLE, TC_B_ENABLE and TC_G_ENABLE parameters to 1
 2) Set all CAL_GYR and CAL_ACC parameters to defaults
 3) Set the SYS_LOGGER parameter to 1 to use the new system logger
-4) Set the SDLOG_MODE parameter to 3 to enable logging of sensor data for calibration and power off
+4) Set the SDLOG_MODE parameter to 2, and SDLOG_PROFILE parameter to 2 to enable logging of sensor data for calibration and power off
 5) Cold soak the board for 30 minutes
 6) Move to a warm dry, still air, constant pressure environment.
 7) Apply power for 45 minutes, keeping the board still.

src/modules/logger/logger.cpp

@@ -397,11 +397,13 @@ Logger::Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_inte
 	_log_name_timestamp(log_name_timestamp),
 	_writer(backend, buffer_size, queue_size),
 	_log_interval(log_interval),
-	_sdlog_mode(0)
+	_sdlog_mode(SDLOG_MODE_ARM_UNTIL_DISARM),
+	_sdlog_profile(SDLOG_PROFILE_DEFAULT)
 {
 	_log_utc_offset = param_find("SDLOG_UTC_OFFSET");
 	_log_dirs_max = param_find("SDLOG_DIRS_MAX");
 	_sdlog_mode_handle = param_find("SDLOG_MODE");
+	_sdlog_profile_handle = param_find("SDLOG_PROFILE");
 
 	if (poll_topic_name) {
 		const orb_metadata **topics = orb_get_topics();
@@ -598,8 +600,11 @@ void Logger::add_default_topics()
 	add_topic("gps_dump"); //this will only be published if GPS_DUMP_COMM is set
 	add_topic("sensor_preflight", 50);
 	add_topic("task_stack_info");
+}
 
-	/* for estimator replay (need to be at full rate) */
+void Logger::add_estimator_replay_topics()
+{
+	// for estimator replay (need to be at full rate)
 	add_topic("airspeed");
 	add_topic("distance_sensor");
 	add_topic("ekf2_timestamps");
@@ -609,15 +614,23 @@ void Logger::add_default_topics()
 	add_topic("vehicle_status");
 }
 
-void Logger::add_calibration_topics()
+void Logger::add_thermal_calibration_topics()
 {
 	// Note: try to avoid setting the interval where possible, as it increases RAM usage
-
 	add_topic("sensor_gyro", 100);
 	add_topic("sensor_accel", 100);
 	add_topic("sensor_baro", 100);
 }
 
+void Logger::add_system_identification_topics()
+{
+	// for system id need to log imu and controls at full rate
+	add_topic("sensor_gyro");
+	add_topic("sensor_accel");
+	add_topic("actuator_controls_0");
+	add_topic("actuator_controls_1");
+}
+
 int Logger::add_topics_from_file(const char *fname)
 {
 	FILE		*fp;
@@ -730,11 +743,27 @@ void Logger::run()
 			param_get(_sdlog_mode_handle, &_sdlog_mode);
 		}
 
-		if (_sdlog_mode == 3) {
+		if (_sdlog_profile_handle != PARAM_INVALID) {
-			add_calibration_topics();
+			param_get(_sdlog_profile_handle, &_sdlog_profile);
+		}
+
+		if (_sdlog_profile == SDLOG_PROFILE_DEFAULT) {
+			add_default_topics();
+
+		} else if (_sdlog_profile == SDLOG_PROFILE_ESTIMATOR_REPLAY) {
+			add_default_topics();
+			add_estimator_replay_topics();
+
+		} else if (_sdlog_profile == SDLOG_PROFILE_THERMAL_CALIBRATION) {
+			add_thermal_calibration_topics();
+
+		} else if (_sdlog_profile == SDLOG_PROFILE_SYSTEM_IDENTIFICATION) {
+			add_default_topics();
+			add_system_identification_topics();
 
 		} else {
 			add_default_topics();
+			add_estimator_replay_topics();
 		}
 	}
 

src/modules/logger/logger.h

@@ -58,6 +58,19 @@ namespace px4
 namespace logger
 {
 
+enum {
+	SDLOG_MODE_ARM_UNTIL_DISARM = 0,
+	SDLOG_MODE_BOOT_UNTIL_DISARM = 1,
+	SDLOG_MODE_BOOT_UNTIL_SHUTDOWN = 2
+};
+
+enum {
+	SDLOG_PROFILE_DEFAULT = 0,
+	SDLOG_PROFILE_ESTIMATOR_REPLAY = 1,
+	SDLOG_PROFILE_THERMAL_CALIBRATION = 2,
+	SDLOG_PROFILE_SYSTEM_IDENTIFICATION = 3
+};
+
 struct LoggerSubscription {
 	int fd[ORB_MULTI_MAX_INSTANCES];
 	uint16_t msg_ids[ORB_MULTI_MAX_INSTANCES];
@@ -246,7 +259,9 @@ private:
 	int add_topics_from_file(const char *fname);
 
 	void add_default_topics();
-	void add_calibration_topics();
+	void add_estimator_replay_topics();
+	void add_thermal_calibration_topics();
+	void add_system_identification_topics();
 
 	void ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result);
 
@@ -306,7 +321,9 @@ private:
 
 	// control
 	param_t _sdlog_mode_handle;
+	param_t _sdlog_profile_handle;
 	int32_t _sdlog_mode;
+	int32_t _sdlog_profile;
 
 };
 

src/modules/logger/params.c

@@ -60,14 +60,32 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
  * @value 0 when armed until disarm (default)
  * @value 1 from boot until disarm
  * @value 2 from boot until shutdown
- * @value 3 from boot until shutdown - IMU and Baro data only (used for thermal calibration)
+ *
+ * @min 0
+ * @max 2
+ * @reboot_required true
+ * @group SD Logging
+ */
+PARAM_DEFINE_INT32(SDLOG_MODE, 0);
+
+/**
+ * Logging Topic Profile
+ *
+ * Selects a set of topics appropriate for specific tasks.
+ *
+ * This parameter is only for the new logger (SYS_LOGGER=1).
+ *
+ * @value 0 default
+ * @value 1 estimator replay
+ * @value 2 thermal calibration
+ * @value 3 system identification
  *
  * @min 0
  * @max 3
  * @reboot_required true
  * @group SD Logging
  */
-PARAM_DEFINE_INT32(SDLOG_MODE, 0);
+PARAM_DEFINE_INT32(SDLOG_PROFILE, 0);
 
 /**
  * Maximum number of log directories to keep