From 4811ab6b137784a84c67c64bffa4917a7b7f0702 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 10 Mar 2017 11:56:10 +0100 Subject: [PATCH] logger: reduce rate of some topics In SITL, logging rate reduces from 70kB/s to 45kB/s. --- src/modules/logger/logger.cpp | 34 +++++++++++++++++----------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp index 6a4f147421..dc9cef9ee2 100644 --- a/src/modules/logger/logger.cpp +++ b/src/modules/logger/logger.cpp @@ -547,41 +547,41 @@ void Logger::add_default_topics() // Note: try to avoid setting the interval where possible, as it increases RAM usage - add_topic("vehicle_attitude", 10); - add_topic("actuator_outputs", 50); + add_topic("vehicle_attitude", 30); + add_topic("actuator_outputs", 100); add_topic("telemetry_status"); add_topic("vehicle_command"); add_topic("vtol_vehicle_status", 100); add_topic("commander_state", 100); add_topic("satellite_info"); - add_topic("vehicle_attitude_setpoint", 20); - add_topic("vehicle_rates_setpoint", 10); - add_topic("actuator_controls_0", 20); - add_topic("actuator_controls_1", 20); + add_topic("vehicle_attitude_setpoint", 50); + add_topic("vehicle_rates_setpoint", 30); + add_topic("actuator_controls_0", 100); + add_topic("actuator_controls_1", 100); add_topic("vehicle_local_position", 100); - add_topic("vehicle_local_position_setpoint", 50); - add_topic("vehicle_global_position", 100); - add_topic("vehicle_global_velocity_setpoint", 100); + add_topic("vehicle_local_position_setpoint", 200); + add_topic("vehicle_global_position", 200); + add_topic("vehicle_global_velocity_setpoint", 200); add_topic("vehicle_vision_position"); add_topic("vehicle_vision_attitude"); add_topic("battery_status", 300); add_topic("system_power", 300); - add_topic("position_setpoint_triplet", 10); + add_topic("position_setpoint_triplet", 30); add_topic("att_pos_mocap", 50); add_topic("optical_flow", 50); - add_topic("rc_channels"); - add_topic("input_rc"); + add_topic("rc_channels", 100); + add_topic("input_rc", 100); add_topic("differential_pressure", 50); - add_topic("esc_status", 20); - add_topic("estimator_status", 50); //this one is large - add_topic("ekf2_innovations", 20); + add_topic("esc_status", 250); + add_topic("estimator_status", 200); //this one is large + add_topic("ekf2_innovations", 50); add_topic("tecs_status", 20); add_topic("wind_estimate", 100); - add_topic("control_state", 20); + add_topic("control_state", 100); add_topic("camera_trigger"); add_topic("cpuload"); add_topic("gps_dump"); //this will only be published if GPS_DUMP_COMM is set - add_topic("sensor_preflight"); + add_topic("sensor_preflight", 50); add_topic("task_stack_info"); /* for estimator replay (need to be at full rate) */