I’m trying to figure out how to log the motor saturation status topic with ulog and haven’t had much success. The saturation status is updated in mixer_multirotor.cpp and used in mc_att_control_main.cpp for limiting the integral windup (I think). I simply want to see when this is triggered during flight, as I’m trying to perform aggressive maneuvers with reversible motors, and the handling of motor saturation seems to be causing problems.
Have a look at the logger documentation. You can add the saturation topic to the config file.
https://dev.px4.io/en/log/logging.html