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Fix blackbox rcCommand[THROTTLE] logging 

The blackbox "P" frame is incorrectly offsetting the rcCommand[THROTTLE] value by `min_throttle`. The rcCommand value already ranges from 1000-2000 and is an input so it shouldn't be offset by a motor output value. Also this is clearly incorrect in the case of DSHOT which doesn't use `min_throttle`.
This commit is contained in:
Bruce Luckcuck 2019-01-25 17:27:25 -05:00
parent 9e7e263abb
commit 55dc91d6f7
1 changed files with 5 additions and 6 deletions
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11
src/main/blackbox/blackbox.c
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@ -189,8 +189,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"rcCommand", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"rcCommand", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"rcCommand", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
/* Throttle is always in the range [minthrottle..maxthrottle]: */
{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
// setpoint - define 4 fields like rcCommand to use the same encoding. setpoint[4] contains the mixer throttle
{"setpoint", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
@ -548,10 +547,10 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
/*
* Write the throttle separately from the rest of the RC data so we can apply a predictor to it.
* Throttle lies in range [minthrottle..maxthrottle]:
* Write the throttle separately from the rest of the RC data as it's unsigned.
* Throttle lies in range [PWM_RANGE_MIN..PWM_RANGE_MAX]:
*/
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE] - motorConfig()->minthrottle);
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE]);
// Write setpoint roll, pitch, yaw, and throttle
blackboxWriteSigned16VBArray(blackboxCurrent->setpoint, 4);
@ -1024,7 +1023,7 @@ static void loadMainState(timeUs_t currentTimeUs)
}
for (int i = 0; i < 4; i++) {
blackboxCurrent->rcCommand[i] = rcCommand[i];
blackboxCurrent->rcCommand[i] = lrintf(rcCommand[i]);
}
// log the currentPidSetpoint values applied to the PID controller