After some discussions with Randy, Peter and Paul I have pushed changes to add new LOG_DISARMED and LOG_REPLAY parameters. I’ve also renamed EK2_LOGGING to EK2_LOG_MASK.
The new parameters are meant to make it easier for users to gather logs that are sufficiently detailed to run an EKF replay on while keeping the logs as small as possible.
The LOG_DISARMED parameter replaces the previous bitmask for choosing if we log while disarmed. It defaults to 0 meaning no logging while disarmed. To getting logging while disarmed set LOG_DISARMED=1
The LOG_REPLAY parameter controls the creation of “replay compatible” logs. When this is enabled logging of key sensor data is controlled by libraries/AP_NavEK2, allowing it to log exactly the data and timestamps it needs for a replay.
The key message for users and developers is that if you want a Replay compatible log for debugging issues with EKF2 then you should set: