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

Add BlackBox recording for G-Tune

This commit is contained in:
Michael Jakob 2015-03-02 13:31:37 +01:00
parent daceb2db9a
commit 6c022455c5
3 changed files with 33 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/main/blackbox/blackbox.c
View File

@ -1162,6 +1162,10 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
blackboxWrite(data->inflightAdjustment.adjustmentFunction);
blackboxWriteSignedVB(data->inflightAdjustment.newValue);
}
case FLIGHT_LOG_EVENT_GTUNE_RESULT:
blackboxWrite(data->gtuneCycleResult.gtuneAxis);
blackboxWrite(data->gtuneCycleResult.gtuneGyroAVG);
blackboxWrite(data->gtuneCycleResult.gtuneNewP);
break;
case FLIGHT_LOG_EVENT_LOGGING_RESUME:
blackboxWriteUnsignedVB(data->loggingResume.logIteration);

13
src/main/blackbox/blackbox_fielddefs.h
View File

@ -108,6 +108,7 @@ typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS = 12,
FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;
@ -148,10 +149,18 @@ typedef struct flightLogEvent_inflightAdjustment_t {
float newFloatValue;
} flightLogEvent_inflightAdjustment_t;
<<<<<<< Upstream, based on origin/master
typedef struct flightLogEvent_loggingResume_t {
uint32_t logIteration;
uint32_t currentTime;
} flightLogEvent_loggingResume_t;
=======
typedef struct flightLogEvent_gtuneCycleResult_t {
uint8_t gtuneAxis;
uint32_t gtuneGyroAVG;
uint8_t gtuneNewP;
} flightLogEvent_gtuneCycleResult_t;
>>>>>>> 6f60c52 Add BlackBox recording for G-Tune
typedef union flightLogEventData_t
{
@ -160,7 +169,11 @@ typedef union flightLogEventData_t
flightLogEvent_autotuneCycleResult_t autotuneCycleResult;
flightLogEvent_autotuneTargets_t autotuneTargets;
flightLogEvent_inflightAdjustment_t inflightAdjustment;
<<<<<<< Upstream, based on origin/master
flightLogEvent_loggingResume_t loggingResume;
=======
flightLogEvent_gtuneCycleResult_t gtuneCycleResult;
>>>>>>> 6f60c52 Add BlackBox recording for G-Tune
} flightLogEventData_t;
typedef struct flightLogEvent_t

19
src/main/flight/gtune.c
View File

@ -151,9 +151,22 @@ void calculate_Gtune(uint8_t axis)
} else {
if (ABS(diff_G) > threshP && axis != FD_YAW) result_P64[axis] -= 32; // Don't use antiwobble for YAW
}
result_P64[axis] = constrain(result_P64[axis], (int16_t)pidProfile->gtune_lolimP[axis] << 6, (int16_t)pidProfile->gtune_hilimP[axis] << 6);
if (floatPID) pidProfile->P_f[axis] = (float)((result_P64[axis] >> 6) / 10); // new P value for float PID
else pidProfile->P8[axis] = result_P64[axis] >> 6; // new P value
int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
flightLogEvent_gtuneCycleResult_t eventData;
eventData.gtuneAxis = axis;
eventData.gtuneGyroAVG = AvgGyro[axis];
eventData.gtuneNewP = newP;
blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
}
#endif
if (floatPID) pidProfile->P_f[axis] = (float)(newP / 10); // new P value for float PID
else pidProfile->P8[axis] = newP; // new P value
}
OldError[axis] = error;
}