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feat(logger): append topics defined in logger_topics.txt instead of replacing all (#27462)

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* feat(logger): append topics defined in logger_topics.txt instead of replacing logging profile

* docs(logger): Explain how logger_topics.txt topics are being used

* refactor(logger): squash initialize functions into a single one

* docs(docs): Subedit

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
This commit is contained in:
János Arenhövel
2026-05-29 04:53:31 +02:00
committed by GitHub
parent 1c79648e8d
commit 9ae1e0f04f
4 changed files with 31 additions and 34 deletions
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26
docs/en/dev_log/logging.md
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@@ -52,21 +52,27 @@ This allows, for example, logging of your own uORB topics.
### SD Card Configuration
Separately, the list of logged topics can also be customized with a file on the SD card.
Create a file `etc/logging/logger_topics.txt` on the card with a list of topics (For SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`):
The list of logged topics can also be customized with a file on the SD card: `etc/logging/logger_topics.txt` (for SITL, it's `build/px4_sitl_default/rootfs/fs/microsd/etc/logging/logger_topics.txt`).
Each topic to be logged is listed on a separate line, with the following format:
```plain
<topic_name> <interval> <instance>
```
The `<interval>` is optional, and if specified, defines the minimum interval in ms between two logged messages of this topic.
If not specified, the topic is logged at full rate.
Where:
- `<interval>` (optional).
Defines the minimum interval in ms between two logged messages of this topic.
If not specified or `0`, the topic is logged at full rate.
- `<instance>` (optional).
Defines the instance to log.
NOte that `<interval>` must be specified in order to set `instance`
If not specified, all instances of the topic are logged.
The `<instance>` is optional, and if specified, defines the instance to log.
If not specified, all instances of the topic are logged.
To specify `<instance>`, `<interval>` must be specified. It can be set to 0 to log at full rate
The topics in this file replace all of the default logged topics.
The topics in this file will be added on top of the already selected topics.
To just log the topics defined in this file, set [SDLOG_PROFILE=0](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
If a topic is already included, it will update it's rate.
Example :
@@ -77,7 +83,7 @@ sensor_gyro 200
sensor_mag 200 1
```
This configuration will log sensor_accel 0 at full rate, sensor_accel 1 at 10Hz, all sensor_gyro instances at 5Hz and sensor_mag 1 at 5Hz.
This configuration will log sensor_accel 0 at full rate, sensor_accel 1 at 10Hz, all `sensor_gyro` instances at 5Hz and `sensor_mag` 1 at 5Hz.
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