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

* 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>

docs/en/dev_log/logging.md

@@ -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.
+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`).
-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`):
+
+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.
+Where:
-If not specified, the topic is logged at full rate.
+- `<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.
+The topics in this file will be added on top of the already selected topics. 
-If not specified, all instances of the topic are logged.
+To just log the topics defined in this file, set [SDLOG_PROFILE=0](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
-To specify `<instance>`, `<interval>` must be specified. It can be set to 0 to log at full rate
+If a topic is already included, it will update it's rate.
-
-The topics in this file replace all of the default logged topics.
 
 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.
 
 ## Scripts
 

src/modules/logger/logged_topics.cpp

@@ -558,20 +558,6 @@ bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8
 }
 
 bool LoggedTopics::initialize_logged_topics(SDLogProfileMask profile)
-{
-	int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");
-
-	if (ntopics > 0) {
-		PX4_INFO("logging %d topics from logger_topics.txt", ntopics);
-
-	} else {
-		initialize_configured_topics(profile);
-	}
-
-	return _subscriptions.count > 0;
-}
-
-void LoggedTopics::initialize_configured_topics(SDLogProfileMask profile)
 {
 	// load appropriate topics for profile
 	// the order matters: if several profiles add the same topic, the logging rate of the last one will be used
@@ -622,4 +608,16 @@ void LoggedTopics::initialize_configured_topics(SDLogProfileMask profile)
 	if (profile & SDLogProfileMask::HIGH_RATE_SENSORS) {
 		add_high_rate_sensors_topics();
 	}
+
+	int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");
+
+	if (ntopics > 0) {
+		PX4_INFO("logging %d topics from logger_topics.txt", ntopics);
+
+	} else if ((int32_t)profile == 0) {
+		PX4_WARN("No logging topics added. Using default set");
+		add_default_topics();
+	}
+
+	return _subscriptions.count > 0;
 }

src/modules/logger/logged_topics.h

@@ -102,6 +102,9 @@ public:
 	 */
 	void initialize_mission_topics(MissionLogType mission_log_type);
 
+	/**
+	 * Add topic subscriptions based on the profile configuration and additional topics from SD card
+	 */
 	bool initialize_logged_topics(SDLogProfileMask profile);
 
 	const RequestedSubscriptionArray &subscriptions() const { return _subscriptions; }
@@ -160,11 +163,6 @@ private:
 	 */
 	void add_mission_topic(const char *name, uint16_t interval_ms = 0);
 
-	/**
-	 * Add topic subscriptions based on the profile configuration
-	 */
-	void initialize_configured_topics(SDLogProfileMask profile);
-
 	void add_default_topics();
 	void add_estimator_replay_topics();
 	void add_thermal_calibration_topics();

src/modules/logger/logger.cpp

@@ -507,11 +507,6 @@ bool Logger::initialize_topics()
 	// get the logging profile
 	SDLogProfileMask sdlog_profile = (SDLogProfileMask)_param_sdlog_profile.get();
 
-	if ((int32_t)sdlog_profile == 0) {
-		PX4_WARN("No logging profile selected. Using default set");
-		sdlog_profile = SDLogProfileMask::DEFAULT;
-	}
-
 	LoggedTopics logged_topics;
 	logged_topics.set_rate_factor(_rate_factor);