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logger: skip multi-EKF logging if CONSTRAINED_MEMORY

This commit is contained in:
Daniel Agar 2021-05-02 11:30:35 -04:00
parent 783a780207
commit feebb24106
1 changed files with 8 additions and 8 deletions
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16
src/modules/logger/logged_topics.cpp
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@ -116,11 +116,11 @@ void LoggedTopics::add_default_topics()
add_topic("wind", 1000);
// Control allocation topics
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_actuator_setpoint", 20);
add_topic("vehicle_angular_acceleration", 20);
add_topic("vehicle_angular_acceleration_setpoint", 20);
add_topic("vehicle_thrust_setpoint", 20);
add_topic("vehicle_torque_setpoint", 20);
add_topic("vehicle_actuator_setpoint", 20);
// multi topics
add_topic_multi("actuator_outputs", 100, 3);
@ -132,27 +132,27 @@ void LoggedTopics::add_default_topics()
// EKF multi topics (currently max 9 estimators)
#if CONSTRAINED_MEMORY
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 2;
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1;
#else
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificailly limited until PlotJuggler fixed
add_topic("estimator_selector_status");
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
#endif
add_topic("estimator_selector_status");
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
// log all raw sensors at minimal rate (at least 1 Hz)