Mission Log

cmake/configs/nuttx_aerofc-v1_default.cmake

@@ -62,7 +62,6 @@ set(config_module_list
 	#
 	modules/mc_att_control
 	modules/mc_pos_control
-	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging

cmake/configs/nuttx_crazyflie_default.cmake

@@ -62,7 +62,6 @@ set(config_module_list
 	# modules/fw_att_control
 	modules/mc_att_control
 	modules/mc_pos_control
-	modules/vtol_att_control # FIXME: only required for params needed by Navigator
 
 	#
 	# Logging

cmake/configs/nuttx_omnibus-f4sd_default.cmake

@@ -89,13 +89,13 @@ set(config_module_list
 	#
 	# Vehicle Control
 	#
-	modules/fw_att_control
-	modules/fw_pos_control_l1
+	#modules/fw_att_control
+	#modules/fw_pos_control_l1
 	#modules/gnd_att_control
 	#modules/gnd_pos_control
 	modules/mc_att_control
 	modules/mc_pos_control
-	modules/vtol_att_control
+	#modules/vtol_att_control
 
 	#
 	# Logging

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -35,7 +35,7 @@ set(config_module_list
 	drivers/distance_sensor/ll40ls
 	#drivers/distance_sensor/mb12xx
 	drivers/distance_sensor/sf0x
-	drivers/distance_sensor/sf1xx
+	#drivers/distance_sensor/sf1xx
 	#drivers/distance_sensor/srf02
 	#drivers/distance_sensor/teraranger
 	#drivers/distance_sensor/tfmini

src/modules/logger/CMakeLists.txt

@@ -42,6 +42,7 @@ px4_add_module(
 		log_writer.cpp
 		log_writer_file.cpp
 		log_writer_mavlink.cpp
+		util.cpp
 		watchdog.cpp
 	DEPENDS
 		version

src/modules/logger/log_writer.cpp

@@ -95,45 +95,45 @@ LogWriter::~LogWriter()
 	}
 }
 
-bool LogWriter::is_started() const
+bool LogWriter::is_started(LogType type) const
 {
 	bool ret = false;
 
 	if (_log_writer_file) {
-		ret = _log_writer_file->is_started();
+		ret = _log_writer_file->is_started(type);
 	}
 
-	if (_log_writer_mavlink) {
+	if (_log_writer_mavlink && type == LogType::Full) {
 		ret = ret || _log_writer_mavlink->is_started();
 	}
 
 	return ret;
 }
 
-bool LogWriter::is_started(Backend query_backend) const
+bool LogWriter::is_started(LogType type, Backend query_backend) const
 {
 	if (query_backend == BackendFile && _log_writer_file) {
-		return _log_writer_file->is_started();
+		return _log_writer_file->is_started(type);
 	}
 
-	if (query_backend == BackendMavlink && _log_writer_mavlink) {
+	if (query_backend == BackendMavlink && _log_writer_mavlink && type == LogType::Full) {
 		return _log_writer_mavlink->is_started();
 	}
 
 	return false;
 }
 
-void LogWriter::start_log_file(const char *filename)
+void LogWriter::start_log_file(LogType type, const char *filename)
 {
 	if (_log_writer_file) {
-		_log_writer_file->start_log(filename);
+		_log_writer_file->start_log(type, filename);
 	}
 }
 
-void LogWriter::stop_log_file()
+void LogWriter::stop_log_file(LogType type)
 {
 	if (_log_writer_file) {
-		_log_writer_file->stop_log();
+		_log_writer_file->stop_log(type);
 	}
 }
 
@@ -158,15 +158,15 @@ void LogWriter::thread_stop()
 	}
 }
 
-int LogWriter::write_message(void *ptr, size_t size, uint64_t dropout_start)
+int LogWriter::write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start)
 {
 	int ret_file = 0, ret_mavlink = 0;
 
 	if (_log_writer_file_for_write) {
-		ret_file = _log_writer_file_for_write->write_message(ptr, size, dropout_start);
+		ret_file = _log_writer_file_for_write->write_message(type, ptr, size, dropout_start);
 	}
 
-	if (_log_writer_mavlink_for_write) {
+	if (_log_writer_mavlink_for_write && type == LogType::Full) {
 		ret_mavlink = _log_writer_mavlink_for_write->write_message(ptr, size);
 	}
 

src/modules/logger/log_writer.h

@@ -65,9 +65,9 @@ class LogWriter
 	/** stop all running threads and wait for them to exit */
 	void thread_stop();
 
-	void start_log_file(const char *filename);
+	void start_log_file(LogType type, const char *filename);
 
-	void stop_log_file();
+	void stop_log_file(LogType type);
 
 	void start_log_mavlink();
 
@@ -76,20 +76,21 @@ class LogWriter
 	/**
 	 * whether logging is currently active or not (any of the selected backends).
 	 */
-	bool is_started() const;
+	bool is_started(LogType type) const;
 
 	/**
 	 * whether logging is currently active or not for a specific backend.
 	 */
-	bool is_started(Backend query_backend) const;
+	bool is_started(LogType type, Backend query_backend) const;
 
 	/**
 	 * Write a single ulog message (including header). The caller must call lock() before calling this.
 	 * @param dropout_start timestamp when lastest dropout occured. 0 if no dropout at the moment.
 	 * @return 0 on success (or if no logging started),
 	 *         -1 if not enough space in the buffer left (file backend), -2 mavlink backend failed
+	 *  add type -> pass through, but not to mavlink if mission log
 	 */
-	int write_message(void *ptr, size_t size, uint64_t dropout_start = 0);
+	int write_message(LogType type, void *ptr, size_t size, uint64_t dropout_start = 0);
 
 	/**
 	 * Select a backend, so that future calls to write_message() only write to the selected
@@ -116,23 +117,23 @@ class LogWriter
 		if (_log_writer_file) { _log_writer_file->notify(); }
 	}
 
-	size_t get_total_written_file() const
+	size_t get_total_written_file(LogType type) const
 	{
-		if (_log_writer_file) { return _log_writer_file->get_total_written(); }
+		if (_log_writer_file) { return _log_writer_file->get_total_written(type); }
 
 		return 0;
 	}
 
-	size_t get_buffer_size_file() const
+	size_t get_buffer_size_file(LogType type) const
 	{
-		if (_log_writer_file) { return _log_writer_file->get_buffer_size(); }
+		if (_log_writer_file) { return _log_writer_file->get_buffer_size(type); }
 
 		return 0;
 	}
 
-	size_t get_buffer_fill_count_file() const
+	size_t get_buffer_fill_count_file(LogType type) const
 	{
-		if (_log_writer_file) { return _log_writer_file->get_buffer_fill_count(); }
+		if (_log_writer_file) { return _log_writer_file->get_buffer_fill_count(type); }
 
 		return 0;
 	}