rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Add RPM Filter, FF and Iterm Relax values to the Blackbox header

This commit is contained in:
Miguel Angel Mulero Martinez 2019-09-05 08:44:57 +02:00
parent 2553a4a1f9
commit 5f8919eb98
1 changed files with 21 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
src/main/blackbox/blackbox.c
View File

@ -62,6 +62,7 @@
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "io/beeper.h"
@ -1318,6 +1319,11 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d", currentPidProfile->itermWindupPointPercent);
#if defined(USE_ITERM_RELAX)
BLACKBOX_PRINT_HEADER_LINE("iterm_relax", "%d", currentPidProfile->iterm_relax);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_type", "%d", currentPidProfile->iterm_relax_type);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_cutoff", "%d", currentPidProfile->iterm_relax_cutoff);
#endif
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d", currentPidProfile->vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle);
@ -1335,6 +1341,12 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("feedforward_weight", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].F,
currentPidProfile->pid[PID_PITCH].F,
currentPidProfile->pid[PID_YAW].F);
#ifdef USE_INTERPOLATED_SP
BLACKBOX_PRINT_HEADER_LINE("ff_interpolate_sp", "%d", currentPidProfile->ff_interpolate_sp);
BLACKBOX_PRINT_HEADER_LINE("ff_jerk_limit", "%d", currentPidProfile->ff_jerk_limit);
BLACKBOX_PRINT_HEADER_LINE("ff_max_rate_limit", "%d", currentPidProfile->ff_max_rate_limit);
#endif
BLACKBOX_PRINT_HEADER_LINE("ff_boost", "%d", currentPidProfile->ff_boost);
BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d", currentPidProfile->yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d", currentPidProfile->rateAccelLimit);
@ -1358,6 +1370,15 @@ static bool blackboxWriteSysinfo(void)
gyroConfig()->gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
gyroConfig()->gyro_soft_notch_cutoff_2);
#ifdef USE_RPM_FILTER
BLACKBOX_PRINT_HEADER_LINE("gyro_rpm_notch_harmonics", "%d", rpmFilterConfig()->gyro_rpm_notch_harmonics);
BLACKBOX_PRINT_HEADER_LINE("gyro_rpm_notch_q", "%d", rpmFilterConfig()->gyro_rpm_notch_q);
BLACKBOX_PRINT_HEADER_LINE("gyro_rpm_notch_min", "%d", rpmFilterConfig()->gyro_rpm_notch_min);
BLACKBOX_PRINT_HEADER_LINE("dterm_rpm_notch_harmonics", "%d", rpmFilterConfig()->dterm_rpm_notch_harmonics);
BLACKBOX_PRINT_HEADER_LINE("dterm_rpm_notch_q", "%d", rpmFilterConfig()->dterm_rpm_notch_q);
BLACKBOX_PRINT_HEADER_LINE("dterm_rpm_notch_min", "%d", rpmFilterConfig()->dterm_rpm_notch_min);
BLACKBOX_PRINT_HEADER_LINE("rpm_notch_lpf", "%d", rpmFilterConfig()->rpm_lpf);
#endif
#if defined(USE_ACC)
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware);