[WIP] Use new CA topics instead of actuator_controls/outputs

[sfuhrer]

• change how flight time calculation is done: use vehicle_land_detected instead of PWM thresholds
• OR, what we need for the current work about maneuver-based ID: manually selected start/end points for a maneuver
• use vehicle_torque_setpoint and vehicle_torque_setpoint instead of actuator_outputs for --> this is fine for FW, where every actuator is controlling one axis (not true for roll though with 2 ailerons). Better would be to use actuator_motors, actuator_servos, but I didn't get it working with that. Also, actuator_motors/_servos is logged at a much lower rate, so we may want to add them to the PX4 high rate logging profile and enable that for Sys-ID flights

[Jaeyoung-Lim]

change how flight time calculation is done: use vehicle_land_detected instead of PWM thresholds
OR, what we need for the current work about maneuver-based ID: manually selected start/end points for a maneuver

I think we would want to support both use cases

Currently already supported:

• System ID from a normal flight (and reject it if the data is not informative enough)
• User can interactively choose which data to use

The missing use case currently in this repository is:

• In case we did a maneuver, use only that section of the log for ID.

If we are to support the maneuver based ID, I think we just lack the instrumentation on PX4 side to log this. Would you have any ideas where should we put this? Maybe just a hacky manually activated switch for now?

[sfuhrer]

Would you have any ideas where should we put this? Maybe just a hacky manually activated switch for now?

I was thinking the same yes. AUX1 or AUX2 for example. Would be quite straight forward and not even require code changes.

[Jaeyoung-Lim]

@sfuhrer I guess we don't need this anymore?