new logger

ROMFS/px4fmu_common/init.d/rc.logging

+#!nsh
+#
+# Initialize logging services.
+#
+
+if [ -d /fs/microsd ]
+then
+	if ver hwcmp PX4FMU_V1
+	then
+		if sdlog2 start -r 30 -a -b 2 -t
+		then
+		fi
+	else
+		# check if we should increase logging rate for ekf2 replay message logging
+		if param greater EKF2_REC_RPL 0
+		then
+			if param compare SYS_LOGGER 0
+			then
+				if sdlog2 start -r 500 -e -b 20 -t
+				then
+				fi
+			else
+				if logger start -r 500
+				then
+				fi
+			fi
+		else
+			if param compare SYS_LOGGER 0
+			then
+				if sdlog2 start -r 100 -a -b 12 -t
+				then
+				fi
+			else
+				if logger start -b 32
+				then
+				fi
+			fi
+		fi
+	fi
+fi

ROMFS/px4fmu_common/init.d/rcS

@@ -617,32 +617,6 @@ then
 		mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 	fi
 
-
-	#
-	# Logging
-	#
-	if [ -d /fs/microsd ]
-	then
-		if ver hwcmp PX4FMU_V1
-		then
-			if sdlog2 start -r 30 -a -b 2 -t
-			then
-			fi
-		else
-			# check if we should increase logging rate for ekf2 replay message logging
-			if param greater EKF2_REC_RPL 0
-			then
-				if sdlog2 start -r 500 -e -b 20 -t
-				then
-				fi
-			else
-				if sdlog2 start -r 100 -a -b 12 -t
-				then
-				fi
-			fi
-		fi
-	fi
-
 	#
 	# Start up ARDrone Motor interface
 	#
@@ -863,6 +837,11 @@ then
 		echo "[i] No autostart ID found"
 	fi
 
+	#
+	# Logging
+	#
+	sh /etc/init.d/rc.logging
+
 	# Start any custom addons
 	set FEXTRAS /fs/microsd/etc/extras.txt
 	if [ -f $FEXTRAS ]

Tools/check_code_style_all.sh

@@ -26,6 +26,7 @@ find \
     src/modules/gpio_led \
     src/modules/land_detector \
     src/modules/local_position_estimator \
+    src/modules/logger \
     src/modules/mavlink/mavlink_tests \
     src/modules/muorb \
     src/modules/param \

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -105,6 +105,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/nuttx_px4fmu-v1_default.cmake

@@ -91,6 +91,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/nuttx_px4fmu-v2_default.cmake

@@ -100,6 +100,7 @@ set(config_module_list
 	#
 	# Logging
 	#
+	modules/logger
 	modules/sdlog2
 
 	#

cmake/configs/nuttx_px4fmu-v2_ekf2.cmake

@@ -99,6 +99,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/nuttx_px4fmu-v4_default.cmake

@@ -104,6 +104,7 @@ set(config_module_list
 	# Logging
 	#
 	modules/sdlog2
+	modules/logger
 
 	#
 	# Library modules

cmake/configs/posix_eagle_hil.cmake

@@ -27,6 +27,7 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
 	modules/load_mon

cmake/configs/posix_eagle_legacy_driver_default.cmake

@@ -45,6 +45,7 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
 

cmake/configs/posix_rpi2_default.cmake

@@ -31,6 +31,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
 	modules/load_mon
 	lib/controllib

cmake/configs/posix_rpi2_release.cmake

@@ -40,6 +40,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
 	modules/load_mon
 	lib/controllib

cmake/configs/posix_sdflight_default.cmake

@@ -38,6 +38,7 @@ set(config_module_list
 	modules/sensors
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/simulator
 	modules/commander
 	modules/navigator

cmake/configs/posix_sitl_broadcast.cmake

@@ -49,6 +49,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
 	lib/controllib
 	lib/mathlib

cmake/configs/posix_sitl_default.cmake

@@ -40,6 +40,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/land_detector
 	modules/load_mon
+	modules/logger
 	modules/mavlink
 	modules/mc_att_control
 	modules/mc_att_control_multiplatform
@@ -56,7 +57,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/vtol_att_control
-
 	lib/controllib
 	lib/conversion
 	lib/DriverFramework/framework

cmake/configs/posix_sitl_ekf2.cmake

@@ -48,6 +48,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/dataman
 	modules/sdlog2
+	modules/logger
 	modules/commander
 	modules/load_mon
 	lib/controllib

cmake/configs/posix_sitl_replay.cmake

@@ -17,6 +17,7 @@ set(config_module_list
 	modules/ekf2
 	modules/ekf2_replay
 	modules/sdlog2
+	modules/logger
 	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter

cmake/configs/posix_sitl_test.cmake

@@ -40,6 +40,7 @@ set(config_module_list
 	modules/fw_pos_control_l1
 	modules/land_detector
 	modules/load_mon
+	modules/logger
 	modules/mavlink
 	modules/mc_att_control
 	modules/mc_att_control_multiplatform

cmake/ros-CMakeLists.txt

@@ -59,30 +59,29 @@ find_package(Eigen REQUIRED)
 ## Generate messages in the 'msg' folder
 add_message_files(
   FILES
-  rc_channels.msg
-  vehicle_attitude.msg
-  vehicle_attitude_setpoint.msg
-  manual_control_setpoint.msg
+  actuator_armed.msg
   actuator_controls.msg
-  actuator_controls_0.msg
-  actuator_controls_virtual_mc.msg
-  vehicle_rates_setpoint.msg
+  commander_state.msg
+  control_state.msg
+  distance_sensor.msg
+  manual_control_setpoint.msg
   mc_virtual_rates_setpoint.msg
-  vehicle_attitude.msg
-  vehicle_control_mode.msg
-  actuator_armed.msg
+  offboard_control_mode.msg
   parameter_update.msg
-  vehicle_status.msg
-  commander_state.msg
-  vehicle_local_position.msg
   position_setpoint.msg
   position_setpoint_triplet.msg
-  vehicle_local_position_setpoint.msg
-  vehicle_global_velocity_setpoint.msg
-  offboard_control_mode.msg
+  rc_channels.msg
+  ros/actuator_controls_0.msg
+  ros/actuator_controls_virtual_mc.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  vehicle_control_mode.msg
   vehicle_force_setpoint.msg
-  distance_sensor.msg
-  control_state.msg
+  vehicle_global_velocity_setpoint.msg
+  vehicle_local_position.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_rates_setpoint.msg
+  vehicle_status.msg
 )
 
 ## Generate services in the 'srv' folder

src/modules/logger/CMakeLists.txt

+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=2200)
+endif()
+
+px4_add_module(
+	MODULE modules__logger
+	MAIN logger
+	PRIORITY "SCHED_PRIORITY_MAX-30"
+	STACK_MAIN 2200
+	COMPILE_FLAGS
+		${MODULE_CFLAGS}
+		-Os
+	SRCS
+		logger.cpp
+		log_writer.cpp
+	DEPENDS
+		platforms__common
+		modules__uORB
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :