px4log日志文件名和qgc下载的日志文件名称的修改

在飞多架无人机的时候，会给飞机修改设备编号id，地面站默认的sys_id设置范围1~255

在读取多个飞机的log日志时候，如果能够直接生成带着飞机编号的log文件是最好的，调研了一下，发现修改log的名称需要两个地方，一个是飞控端，生成的log存放在内存卡中。另一个是地面站QGC读取飞控的内存生成文件，这样是方便不用拆开机架方便读取。

 

1.px4 log日志文件的名称修改

生成log名称的代码路径//src/modules/logger/logger.cpp 1151行

可以看到代码段

  首先获取设备id号，从参数中读取   int log_id = _param_mav_sys_id.get();

然后在名称的拼成上加上id

找不到参数 _param_mav_sys_id？

头文件中添加

(ParamInt<px4::params::MAV_SYS_ID>) _param_mav_sys_id

最后改完代码

if (time_ok) {
		int n = create_log_dir(type, &tt, file_name, file_name_size);

		if (n < 0) {
			return -1;
		}

		char log_file_name_time[16] = "";



		strftime(log_file_name_time, sizeof(log_file_name_time), "%H_%M_%S", &tt);
		snprintf(log_file_name, sizeof(LogFileName::log_file_name), "%s%s_%d.ulg", log_file_name_time, replay_suffix,log_id);
		snprintf(file_name + n, file_name_size - n, "/%s", log_file_name);
	} else {
		int n = create_log_dir(type, nullptr, file_name, file_name_size);

		if (n < 0) {
			return -1;
		}

		uint16_t file_number = 1; // start with file log001

		/* look for the next file that does not exist */
		while (file_number <= MAX_NO_LOGFILE) {
			/* format log file path: e.g. /fs/microsd/log/sess001/log001.ulg */
			snprintf(log_file_name, sizeof(LogFileName::log_file_name), "log%03u%s_%d.ulg", file_number, replay_suffix,log_id);
			snprintf(file_name + n, file_name_size - n, "/%s", log_file_name);

			if (!util::file_exist(file_name)) {
				break;
			}

			file_number++;
		}

		if (file_number > MAX_NO_LOGFILE) {
			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
			return -1;
		}
	}

这样从飞控板内存卡中读取出的log文件名最后就加上了飞机编号

2、地面站从飞控中读取的log文件名

代码路径/src/AnalyzeView/LogDownloadController.cc 600行

一样，先获取设备id

    QString  vehicleId = QString::number(_vehicle->id());

然后在名称的拼成上加上id

 

bool
LogDownloadController::_prepareLogDownload()
{
    delete _downloadData;
    _downloadData = nullptr;

    QGCLogEntry* entry = _getNextSelected();
    if(!entry) {
        return false;
    }
    //-- Deselect file
    entry->setSelected(false);
    emit selectionChanged();
    bool result = false;
    QString ftime;
    if(entry->time().date().year() < 2010) {
        ftime = tr("UnknownDate");
    } else {
        ftime = entry->time().toString(QStringLiteral("yyyy-M-d-hh-mm-ss"));
    }
   //log file name add VehicleId
    QString  vehicleId = QString::number(_vehicle->id());

    _downloadData = new LogDownloadData(entry);
//加这里
    _downloadData->filename = QString("log_") + vehicleId+ "_" + QString::number(entry->id()) + "_" + ftime ;
    if (_vehicle->firmwareType() == MAV_AUTOPILOT_PX4) {
        QString loggerParam = QStringLiteral("SYS_LOGGER");
        if (_vehicle->parameterManager()->parameterExists(FactSystem::defaultComponentId, loggerParam) &&
                _vehicle->parameterManager()->getParameter(FactSystem::defaultComponentId, loggerParam)->rawValue().toInt() == 0) {
            _downloadData->filename += ".px4log";
        } else {
            _downloadData->filename += ".ulg";
        }
    } else {
        _downloadData->filename += ".bin";
    }
    _downloadData->file.setFileName(_downloadPath + _downloadData->filename);
    //-- Append a number to the end if the filename already exists
    if (_downloadData->file.exists()){
        uint num_dups = 0;
        QStringList filename_spl = _downloadData->filename.split('.');
        do {
            num_dups +=1;
            _downloadData->file.setFileName(filename_spl[0] + '_' + QString::number(num_dups) + '.' + filename_spl[1]);
        } while( _downloadData->file.exists());
    }
    //-- Create file
    if (!_downloadData->file.open(QIODevice::WriteOnly)) {
        qWarning() << "Failed to create log file:" <<  _downloadData->filename;
    } else {
        //-- Preallocate file
        if(!_downloadData->file.resize(entry->size())) {
            qWarning() << "Failed to allocate space for log file:" <<  _downloadData->filename;
        } else {
            _downloadData->current_chunk = 0;
            _downloadData->chunk_table = QBitArray(_downloadData->chunkBins(), false);
            _downloadData->elapsed.start();
            result = true;
        }
    }
    if(!result) {
        if (_downloadData->file.exists()) {
            _downloadData->file.remove();
        }
        _downloadData->entry->setStatus(tr("Error"));
        delete _downloadData;
        _downloadData = nullptr;
    }
    return result;
}

这样就能从qgc上直接读取到名称带有设备id号的log文件