Custom topics logging

[Abhinandan-Krishnan]

Hello,

I need to log battery data pm.state in particular for all the quads that are active. If I add the custom topic under all in the crazyflies.yaml file like this,

   custom_topics:
      battery:
        frequency: 10 # Hz
        vars: ["pm.state"]

I get the topic published in different topics for each quad, like /cf8/battery , /cf9/battery/. I was wondering if there is any way to get all the battery info for all active quads in one single topic. I understand that I can write a seperate intermediate node to collect all the individual topics and publish onto a single topic. I wanted to know if Crazyswarm had any config for this, that I might have missed. I think it's a good to have and much more convenient to be published in one single topic.

Thanks!

[whoenig]

Hi,
That's currently not possible and would be difficult to achieve correctly: the individual logging information does arrive asynchronously. Thus, if gathering all the data and adding it to one message, one would loose the timing information and might get stale data.