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Merge branch 'master' of github.com:avoid3d/cleanflight

This commit is contained in:
Pierre Hugo 2015-01-23 22:16:38 -08:00
parent 6711c56dc5 6f7256242d
commit 23243d6c3d
2 changed files with 34 additions and 13 deletions
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40
src/main/blackbox/blackbox.c
View File

@ -150,6 +150,7 @@ typedef struct blackboxGPSFieldDefinition_t {
uint8_t isSigned;
uint8_t predict;
uint8_t encode;
uint8_t condition; // Decide whether this field should appear in the log
} blackboxGPSFieldDefinition_t;
/**
@ -213,18 +214,19 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
#ifdef GPS
// GPS position/vel frame
static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
{"GPS_numSat", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"GPS_coord[0]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB)},
{"GPS_coord[1]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB)},
{"GPS_altitude", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"GPS_speed", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"GPS_ground_course",UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}
{"time", UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
{"GPS_numSat", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord[0]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord[1]", SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_altitude", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_speed", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_ground_course",UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
};
// GPS home frame
static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
{"GPS_home[0]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"GPS_home[1]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB)}
{"GPS_home[0]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_home[1]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
};
#endif
@ -631,6 +633,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
return feature(FEATURE_VBAT);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return masterConfig.blackbox_rate_num < masterConfig.blackbox_rate_denom;
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
return false;
default:
@ -772,8 +777,8 @@ static void writeInterframe(void)
//No need to store iteration count since its delta is always 1
/*
* Since the difference between the difference between successive times will be nearly zero, use
* second-order differences.
* Since the difference between the difference between successive times will be nearly zero (due to consistent
* looptime spacing), use second-order differences.
*/
writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
@ -980,6 +985,17 @@ static void writeGPSFrame()
{
blackboxWrite('G');
/*
* If we're logging every frame, then a GPS frame always appears just after a frame with the
* currentTime timestamp in the log, so the reader can just use that timestamp for the GPS frame.
*
* If we're not logging every frame, we need to store the time of this GPS frame.
*/
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME)) {
// Predict the time of the last frame in the main log
writeUnsignedVB(currentTime - blackboxHistory[1]->time);
}
writeUnsignedVB(GPS_numSat);
writeSignedVB(GPS_coord[0] - gpsHistory.GPS_home[0]);
writeSignedVB(GPS_coord[1] - gpsHistory.GPS_home[1]);
@ -1309,14 +1325,14 @@ void handleBlackbox(void)
case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, blackboxGpsHFields + 1,
ARRAY_LENGTH(blackboxGpsHFields), NULL, NULL)) {
ARRAY_LENGTH(blackboxGpsHFields), &blackboxGpsHFields[0].condition, &blackboxGpsHFields[1].condition)) {
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADERS);
}
break;
case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, blackboxGpsGFields + 1,
ARRAY_LENGTH(blackboxGpsGFields), NULL, NULL)) {
ARRAY_LENGTH(blackboxGpsGFields), &blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
}
break;

7
src/main/blackbox/blackbox_fielddefs.h
View File

@ -37,6 +37,8 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
FLIGHT_LOG_FIELD_CONDITION_NEVER,
FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,
@ -72,7 +74,10 @@ typedef enum FlightLogFieldPredictor {
FLIGHT_LOG_FIELD_PREDICTOR_1500 = 8,
//Predict vbatref, the reference ADC level stored in the header
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9,
//Predict the last time value written in the main stream
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
} FlightLogFieldPredictor;