Added blackbox acc field condition
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@ -81,7 +81,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
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.device = DEFAULT_BLACKBOX_DEVICE,
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.rate_num = 1,
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.rate_denom = 1,
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.on_motor_test = 0 // default off
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.on_motor_test = 0, // default off
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.record_acc = 1
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);
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#define BLACKBOX_I_INTERVAL 32
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@ -206,9 +207,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
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{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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@ -439,6 +440,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
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return blackboxConfig()->rate_num < blackboxConfig()->rate_denom;
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case FLIGHT_LOG_FIELD_CONDITION_ACC:
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return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
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case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
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return debugMode != DEBUG_NONE;
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@ -567,7 +571,9 @@ static void writeIntraframe(void)
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}
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blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
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blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
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blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
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}
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
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blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
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}
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@ -698,7 +704,9 @@ static void writeInterframe(void)
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//Since gyros, accs and motors are noisy, base their predictions on the average of the history:
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blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
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blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
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blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
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}
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
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blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
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}
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@ -37,6 +37,7 @@ typedef struct blackboxConfig_s {
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uint8_t rate_denom;
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uint8_t device;
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uint8_t on_motor_test;
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uint8_t record_acc;
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} blackboxConfig_t;
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PG_DECLARE(blackboxConfig_t, blackboxConfig);
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@ -42,6 +42,7 @@ typedef enum FlightLogFieldCondition {
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FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
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FLIGHT_LOG_FIELD_CONDITION_ACC,
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FLIGHT_LOG_FIELD_CONDITION_DEBUG,
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FLIGHT_LOG_FIELD_CONDITION_NEVER,
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@ -373,6 +373,7 @@ const clivalue_t valueTable[] = {
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{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 1, 32 }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, rate_denom) },
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{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
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{ "blackbox_on_motor_test", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, on_motor_test) },
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{ "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
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#endif
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// PG_MOTOR_CONFIG
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