From 15ae3a9eb7fb07a5da3f6f1dd4feecca0a7a03aa Mon Sep 17 00:00:00 2001
From: James Goppert <james.goppert@gmail.com>
Date: Thu, 29 Jun 2017 07:53:06 -0400
Subject: [PATCH] Add estimator replay topics to default.

---
 src/modules/logger/logger.cpp | 11 ++++++-----
 src/modules/logger/logger.h   |  2 +-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 956d4015f5..2797272f4d 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -554,7 +554,7 @@ bool Logger::copy_if_updated_multi(LoggerSubscription &sub, int multi_instance,
 	return updated;
 }
 
-void Logger::add_default_topics()
+void Logger::add_common_topics()
 {
 #ifdef CONFIG_ARCH_BOARD_SITL
 	add_topic("vehicle_attitude_groundtruth", 10);
@@ -748,21 +748,22 @@ void Logger::run()
 		}
 
 		if (_sdlog_profile == SDLOG_PROFILE_DEFAULT) {
-			add_default_topics();
+			add_common_topics();
+			add_estimator_replay_topics();
 
 		} else if (_sdlog_profile == SDLOG_PROFILE_ESTIMATOR_REPLAY) {
-			add_default_topics();
+			add_common_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_common_topics();
 			add_system_identification_topics();
 
 		} else {
-			add_default_topics();
+			add_common_topics();
 			add_estimator_replay_topics();
 		}
 	}
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index 431af2982b..c8a5177e0f 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -258,7 +258,7 @@ private:
 	 */
 	int add_topics_from_file(const char *fname);
 
-	void add_default_topics();
+	void add_common_topics();
 	void add_estimator_replay_topics();
 	void add_thermal_calibration_topics();
 	void add_system_identification_topics();