From 95466c2fa8a899bf9343bf38b274fe7514dd9cd1 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 1 Sep 2026 10:16:42 +0200 Subject: [PATCH] fix(replay): poll the logger on the last topic ekf2 publishes ekf2_timestamps is the last publication of an ekf2 update and the only one produced on every update, so waking on it logs whole updates and keeps the lockstep barrier fed before the attitude becomes valid. Assisted-by: Claude:claude-opus-5[1m] Signed-off-by: bresch --- ROMFS/px4fmu_common/init.d-posix/rc.replay | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/rc.replay b/ROMFS/px4fmu_common/init.d-posix/rc.replay index ea0510280f5..bdd4a523e78 100644 --- a/ROMFS/px4fmu_common/init.d-posix/rc.replay +++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay @@ -26,5 +26,5 @@ param set SDLOG_PROFILE 3 # apply all params before ekf starts, as some params cannot be changed after startup replay tryapplyparams ekf2 start -r -logger start -f -t -b 1000 -p vehicle_attitude +logger start -f -t -b 1000 -p ekf2_timestamps replay start