Adis debugging

ROMFS/px4fmu_common/CMakeLists.txt

@@ -32,6 +32,7 @@
 ############################################################################
 
 add_subdirectory(init.d)
+add_subdirectory(logging)
 # TODO: make this configurable from the board config, or better combine
 if("${PX4_BOARD}" MATCHES "sitl")
 	add_subdirectory(init.d-posix)

ROMFS/px4fmu_common/init.d/rc.logging

@@ -35,5 +35,5 @@ fi
 
 if ! param compare SDLOG_MODE -1
 then
-	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
+	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS} -p sensor_accel
 fi

ROMFS/px4fmu_common/logging/CMakeLists.txt

@@ -0,0 +1,3 @@
+px4_add_romfs_files(
+	logger_topics.txt
+)

ROMFS/px4fmu_common/logging/logger_topics.txt

@@ -0,0 +1,2 @@
+sensor_accel
+sensor_gyro

src/modules/logger/logged_topics.cpp

@@ -541,7 +541,7 @@ bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8
 
 bool LoggedTopics::initialize_logged_topics(SDLogProfileMask profile)
 {
-	int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");
+	int ntopics = add_topics_from_file(/*PX4_STORAGEDIR*/ "/etc/logging/logger_topics.txt");
 
 	if (ntopics > 0) {
 		PX4_INFO("logging %d topics from logger_topics.txt", ntopics);

src/modules/logger/logger.cpp

@@ -536,7 +536,8 @@ bool Logger::initialize_topics()
 		return false;
 	}
 
-	if ((sdlog_profile & SDLogProfileMask::RAW_IMU_ACCEL_FIFO) || (sdlog_profile & SDLogProfileMask::RAW_IMU_GYRO_FIFO)) {
+	//if ((sdlog_profile & SDLogProfileMask::RAW_IMU_ACCEL_FIFO) || (sdlog_profile & SDLogProfileMask::RAW_IMU_GYRO_FIFO)) {
+	{
 		// if we are logging high-rate FIFO, reduce the logging interval & increase process priority to avoid missing samples
 		PX4_INFO("Logging FIFO data: increasing task prio and logging rate");
 		_log_interval = 800;