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Merge pull request #368 from GaryKeeble/blackbox-enhancements 

PID Parameters in Log file
This commit is contained in:
borisbstyle 2016-04-27 20:27:25 +02:00
parent c60648ac7c 3444967b1c
commit 02b616accb
1 changed files with 153 additions and 8 deletions
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161
src/main/blackbox/blackbox.c
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@ -307,7 +307,7 @@ typedef struct blackboxGpsState_s {
// This data is updated really infrequently:
typedef struct blackboxSlowState_s {
uint16_t flightModeFlags;
uint32_t flightModeFlags; // extend this data size (from uint16_t)
uint8_t stateFlags;
uint8_t failsafePhase;
bool rxSignalReceived;
@ -742,7 +742,7 @@ static void writeSlowFrame(void)
*/
static void loadSlowState(blackboxSlowState_t *slow)
{
slow->flightModeFlags = flightModeFlags;
slow->flightModeFlags = rcModeActivationMask; //was flightModeFlags;
slow->stateFlags = stateFlags;
slow->failsafePhase = failsafePhase();
slow->rxSignalReceived = rxIsReceivingSignal();
@ -1183,17 +1183,162 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
break;
case 15:
blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor);
blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
break;
case 16:
blackboxPrintfHeaderLine("rates:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[0],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[1],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[2]);
blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
break;
case 17:
blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
break;
case 18:
blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
break;
case 19:
blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor);
break;
case 20:
blackboxPrintfHeaderLine("rates:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
break;
case 21:
blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
break;
case 22:
blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
break;
case 23:
blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
break;
case 24:
blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
break;
case 25:
blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
break;
case 26:
blackboxPrintfHeaderLine("altPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
break;
case 27:
blackboxPrintfHeaderLine("posPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
break;
case 28:
blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
break;
case 29:
blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
break;
case 30:
blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
break;
case 31:
blackboxPrintfHeaderLine("magPID:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
break;
case 32:
blackboxPrintfHeaderLine("velPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
break;
case 33:
blackboxPrintfHeaderLine("yaw_p_limit:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
break;
case 34:
blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0));
break;
case 35:
blackboxPrintfHeaderLine("dterm_average_count:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
break;
case 36:
blackboxPrintfHeaderLine("dynamic_dterm_threshold:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_dterm_threshold);
break;
case 37:
blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermResetRate);
break;
case 38:
blackboxPrintfHeaderLine("yawItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermResetRate);
break;
case 39:
blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0));
break;
case 40:
blackboxPrintfHeaderLine("deltaMethod:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
break;
case 41:
blackboxPrintfHeaderLine("H_sensitivity:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);
break;
case 42:
blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
break;
case 43:
blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
break;
case 44:
blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf);
break;
case 45:
blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0));
break;
case 46:
blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0));
break;
case 47:
blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware);
break;
case 48:
blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware);
break;
case 49:
blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware);
break;
case 50:
blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
break;
case 51:
blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
break;
case 52:
blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
break;
case 53:
blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures);
break;
default:
return true;
}
@ -1519,5 +1664,5 @@ void initBlackbox(void)
blackboxSetState(BLACKBOX_STATE_DISABLED);
}
}
#endif