Merge branch 'master' into development

src/main/blackbox/blackbox.c

@@ -896,6 +896,61 @@ void finishBlackbox(void)
     }
 }
 
+/**
+ * Test Motors Blackbox Logging
+ */
+bool startedLoggingInTestMode = false;
+
+void startInTestMode(void)
+{
+    if(!startedLoggingInTestMode) {
+        if (masterConfig.blackbox_device == BLACKBOX_DEVICE_SERIAL) {
+            serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+            if (sharedBlackboxAndMspPort) {
+                return; // When in test mode, we cannot share the MSP and serial logger port!
+            }
+        }
+        startBlackbox();
+        startedLoggingInTestMode = true;
+    }
+}
+void stopInTestMode(void)
+{
+    if(startedLoggingInTestMode) {
+        finishBlackbox();
+        startedLoggingInTestMode = false;
+    }
+}
+/**
+ * We are going to monitor the MSP_SET_MOTOR target variables motor_disarmed[] for values other than minthrottle
+ * on reading a value (i.e. the user is testing the motors), then we enable test mode logging;
+ * we monitor when the values return to minthrottle and start a delay timer (5 seconds); if
+ * the test motors are left at minimum throttle for this delay timer, then we assume we are done testing and
+ * shutdown the logger.
+ *
+ * Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
+ * test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
+ */
+bool inMotorTestMode(void) {
+    static uint32_t resetTime = 0;
+    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.escAndServoConfig.mincommand);
+    int i;
+    bool atLeastOneMotorActivated = false;
+
+    // set disarmed motor values
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+        atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
+
+    if(atLeastOneMotorActivated) {
+        resetTime = millis() + 5000; // add 5 seconds
+        return true;
+    } else {
+        // Monitor the duration at minimum
+        return (millis() < resetTime);
+    }
+    return false;
+}
+
 #ifdef GPS
 static void writeGPSHomeFrame()
 {
@@ -1536,7 +1591,8 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
-            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
+            // Prevent the Pausing of the log on the mode switch if in Motor Test Mode
+            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
                 blackboxSetState(BLACKBOX_STATE_PAUSED);
             } else {
                 blackboxLogIteration();
@@ -1565,6 +1621,20 @@ void handleBlackbox(void)
     // Did we run out of room on the device? Stop!
     if (isBlackboxDeviceFull()) {
         blackboxSetState(BLACKBOX_STATE_STOPPED);
+        // ensure we reset the test mode flag if we stop due to full memory card
+        if (startedLoggingInTestMode) startedLoggingInTestMode = false;
+    } else { // Only log in test mode if there is room!
+
+        if(masterConfig.blackbox_on_motor_test) {
+            // Handle Motor Test Mode
+            if(inMotorTestMode()) {
+                if(blackboxState==BLACKBOX_STATE_STOPPED)
+                    startInTestMode();
+            } else {
+                if(blackboxState!=BLACKBOX_STATE_STOPPED)
+                    stopInTestMode();
+            }
+        }
     }
 }
 

src/main/config/config.c

@@ -102,7 +102,6 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
     accelerometerTrims->values.pitch = 0;
@@ -609,6 +608,7 @@ void createDefaultConfig(master_t *config)
 
     config->blackbox_rate_num = 1;
     config->blackbox_rate_denom = 1;
+    config->blackbox_on_motor_test = 0; // default off
 #endif // BLACKBOX
 
 #ifdef SERIALRX_UART

src/main/config/config_master.h

@@ -159,6 +159,7 @@ typedef struct master_t {
     uint8_t blackbox_rate_num;
     uint8_t blackbox_rate_denom;
     uint8_t blackbox_device;
+    uint8_t blackbox_on_motor_test;
 #endif
 
     uint32_t beeper_off_flags;

src/main/flight/mixer.c

@@ -803,11 +803,13 @@ void mixTable(void *pidProfilePtr)
         if ((rcCommand[THROTTLE] <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle))) { // Out of band handling
             throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;
-            throttlePrevious = throttle = rcCommand[THROTTLE];
+            throttlePrevious = rcCommand[THROTTLE];
+            throttle = rcCommand[THROTTLE] + flight3DConfig->deadband3d_throttle;
         } else if (rcCommand[THROTTLE] >= (rxConfig->midrc + flight3DConfig->deadband3d_throttle)) { // Positive handling
             throttleMax = escAndServoConfig->maxthrottle;
             throttleMin = flight3DConfig->deadband3d_high;
-            throttlePrevious = throttle = rcCommand[THROTTLE];
+            throttlePrevious = rcCommand[THROTTLE];
+            throttle = rcCommand[THROTTLE] - flight3DConfig->deadband3d_throttle;
         } else if ((throttlePrevious <= (rxConfig->midrc - flight3DConfig->deadband3d_throttle)))  { // Deadband handling from negative to positive
             throttle = throttleMax = flight3DConfig->deadband3d_low;
             throttleMin = escAndServoConfig->minthrottle;

src/main/io/ledstrip.c

@@ -326,13 +326,11 @@ bool parseLedStripConfig(int ledIndex, const char *config)
     return true;
 }
 
-void generateLedConfig(int ledIndex, char *ledConfigBuffer, size_t bufferSize)
+void generateLedConfig(ledConfig_t *ledConfig, char *ledConfigBuffer, size_t bufferSize)
 {
     char directions[LED_DIRECTION_COUNT + 1];
     char baseFunctionOverlays[LED_OVERLAY_COUNT + 2];
 
-    ledConfig_t *ledConfig = &masterConfig.ledConfigs[ledIndex];
-
     memset(ledConfigBuffer, 0, bufferSize);
 
     char *dptr = directions;

src/main/io/ledstrip.h

@@ -160,7 +160,7 @@ PG_DECLARE(specialColorIndexes_t, specialColors);
 bool parseColor(int index, const char *colorConfig);
 
 bool parseLedStripConfig(int ledIndex, const char *config);
-void generateLedConfig(int ledIndex, char *ledConfigBuffer, size_t bufferSize);
+void generateLedConfig(ledConfig_t *ledConfig, char *ledConfigBuffer, size_t bufferSize);
 void reevaluateLedConfig(void);
 
 void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse);

src/main/target/CC3D/target.h

@@ -91,7 +91,7 @@
 #define VBAT_ADC_PIN            PA0
 #define RSSI_ADC_PIN            PB0
 
-//#define LED_STRIP
+#define LED_STRIP
 #define WS2811_PIN                      PB4
 #define WS2811_TIMER                    TIM3
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC6
@@ -108,15 +108,16 @@
 //#define SONAR_TRIGGER_PIN       PB5
 
 #undef GPS
+#define CLI_MINIMAL_VERBOSITY
+#undef MAG
 
 #ifdef CC3D_OPBL
-#undef LED_STRIP
 #define SKIP_CLI_COMMAND_HELP
 #define SKIP_PID_FLOAT
 #undef BARO
-#undef MAG
 #undef SONAR
 #undef USE_SOFTSERIAL1
+#undef LED_STRIP
 #endif
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM

src/main/target/NAZE/target.h

@@ -143,7 +143,6 @@
 #define RSSI_ADC_PIN            PA1
 #define EXTERNAL1_ADC_PIN       PA5
 
-
 #define LED_STRIP
 #define WS2811_TIMER                    TIM3
 #define WS2811_PIN                      PA6