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Add logging of IMU attitude to blackbox

This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-06 14:03:50 +10:00
parent 7e72d89081
commit 74dc4face9
1 changed files with 10 additions and 0 deletions
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10
src/main/blackbox/blackbox.c
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@ -206,6 +206,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"attitude", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"attitude", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"attitude", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
@ -275,6 +278,7 @@ typedef struct blackboxMainState_s {
int16_t rcCommand[4];
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t accSmooth[XYZ_AXIS_COUNT];
int16_t attitude[XYZ_AXIS_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS];
@ -549,6 +553,7 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->attitude, XYZ_AXIS_COUNT);
//Motors can be below minthrottle when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
@ -675,6 +680,7 @@ static void writeInterframe(void)
//Since gyros, accs and motors are noisy, base their predictions on the average of the history:
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, attitude), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), motorCount);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
@ -923,6 +929,10 @@ static void loadMainState(void)
blackboxCurrent->accSmooth[i] = accSmooth[i];
}
blackboxCurrent->attitude[0] = attitude.values.roll;
blackboxCurrent->attitude[0] = attitude.values.pitch;
blackboxCurrent->attitude[0] = attitude.values.yaw;
for (i = 0; i < motorCount; i++) {
blackboxCurrent->motor[i] = motor[i];
}