logger: add default ground truth logging for HITL/SITL

src/modules/logger/logged_topics.cpp

@@ -184,6 +184,30 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("vehicle_imu_status", 1000, 4);
 	add_optional_topic_multi("vehicle_magnetometer", 500, 4);
 
+	// SYS_CTRL_ALLOC: additional dynamic control allocation logging when enabled
+	int32_t sys_ctrl_alloc = 0;
+	param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
+
+	if (sys_ctrl_alloc >= 1) {
+		add_topic("actuator_motors", 100);
+		add_topic("actuator_servos", 100);
+		add_topic("vehicle_angular_acceleration", 20);
+		add_topic("vehicle_angular_acceleration_setpoint", 20);
+		add_topic_multi("vehicle_thrust_setpoint", 20, 2);
+		add_topic_multi("vehicle_torque_setpoint", 20, 2);
+	}
+
+	// SYS_HITL: default ground truth logging for simulation
+	int32_t sys_hitl = 0;
+	param_get(param_find("SYS_HITL"), &sys_hitl);
+
+	if (sys_hitl >= 1) {
+		add_topic("vehicle_angular_velocity_groundtruth", 10);
+		add_topic("vehicle_attitude_groundtruth", 10);
+		add_topic("vehicle_global_position_groundtruth", 100);
+		add_topic("vehicle_local_position_groundtruth", 20);
+	}
+
 #ifdef CONFIG_ARCH_BOARD_PX4_SITL
 	add_topic("actuator_controls_virtual_fw");
 	add_topic("actuator_controls_virtual_mc");
@@ -194,7 +218,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_angular_velocity", 10);
 	add_topic("vehicle_attitude_groundtruth", 10);
 	add_topic("vehicle_global_position_groundtruth", 100);
-	add_topic("vehicle_local_position_groundtruth", 100);
+	add_topic("vehicle_local_position_groundtruth", 20);
 
 	// EKF replay
 	add_topic("estimator_baro_bias");
@@ -215,19 +239,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("wind");
 	add_topic("yaw_estimator_status");
 #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
-
-
-	int32_t sys_ctrl_alloc = 0;
-	param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
-
-	if (sys_ctrl_alloc >= 1) {
-		add_topic("actuator_motors", 100);
-		add_topic("actuator_servos", 100);
-		add_topic("vehicle_angular_acceleration", 20);
-		add_topic("vehicle_angular_acceleration_setpoint", 20);
-		add_topic_multi("vehicle_thrust_setpoint", 20, 2);
-		add_topic_multi("vehicle_torque_setpoint", 20, 2);
-	}
 }
 
 void LoggedTopics::add_high_rate_topics()