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Fix Blackbox P interval (#5645)

This commit is contained in:
Míguel Ángel Mulero Martínez 2018-04-09 14:35:54 +02:00 committed by Michael Keller
parent 4b3ada82bf
commit 802edf236b
6 changed files with 57 additions and 54 deletions
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32
src/main/blackbox/blackbox.c
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@ -82,7 +82,7 @@
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1); PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.p_denom = 32, .p_ratio = 32,
.device = DEFAULT_BLACKBOX_DEVICE, .device = DEFAULT_BLACKBOX_DEVICE,
.record_acc = 1, .record_acc = 1,
.mode = BLACKBOX_MODE_NORMAL .mode = BLACKBOX_MODE_NORMAL
@ -384,7 +384,7 @@ bool blackboxMayEditConfig(void)
static bool blackboxIsOnlyLoggingIntraframes(void) static bool blackboxIsOnlyLoggingIntraframes(void)
{ {
return blackboxConfig()->p_denom == 0; return blackboxConfig()->p_ratio == 0;
} }
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition) static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
@ -442,7 +442,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return rxConfig()->rssi_channel > 0 || feature(FEATURE_RSSI_ADC); return rxConfig()->rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME: case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->p_denom != 1; return blackboxConfig()->p_ratio != 1;
case FLIGHT_LOG_FIELD_CONDITION_ACC: case FLIGHT_LOG_FIELD_CONDITION_ACC:
return sensors(SENSOR_ACC) && blackboxConfig()->record_acc; return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
@ -1196,8 +1196,8 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("Log start datetime", "%s", blackboxGetStartDateTime(buf)); BLACKBOX_PRINT_HEADER_LINE("Log start datetime", "%s", blackboxGetStartDateTime(buf));
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", pilotConfig()->name); BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", pilotConfig()->name);
BLACKBOX_PRINT_HEADER_LINE("I interval", "%d", blackboxIInterval); BLACKBOX_PRINT_HEADER_LINE("I interval", "%d", blackboxIInterval);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d", blackboxGetRateNum(), blackboxGetRateDenom()); BLACKBOX_PRINT_HEADER_LINE("P interval", "%d", blackboxPInterval);
BLACKBOX_PRINT_HEADER_LINE("P denom", "%d", blackboxConfig()->p_denom); BLACKBOX_PRINT_HEADER_LINE("P ratio", "%d", blackboxConfig()->p_ratio);
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle); BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle); BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f)); BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f));
@ -1397,7 +1397,7 @@ static void blackboxCheckAndLogFlightMode(void)
STATIC_UNIT_TESTED bool blackboxShouldLogPFrame(void) STATIC_UNIT_TESTED bool blackboxShouldLogPFrame(void)
{ {
return blackboxPFrameIndex == 0 && blackboxConfig()->p_denom != 0; return blackboxPFrameIndex == 0 && blackboxConfig()->p_ratio != 0;
} }
STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void) STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void)
@ -1695,14 +1695,10 @@ int blackboxCalculatePDenom(int rateNum, int rateDenom)
return blackboxIInterval * rateNum / rateDenom; return blackboxIInterval * rateNum / rateDenom;
} }
uint8_t blackboxGetRateNum(void)
{
return blackboxGetRateDenom() * blackboxConfig()->p_denom / blackboxIInterval;
}
uint8_t blackboxGetRateDenom(void) uint8_t blackboxGetRateDenom(void)
{ {
return gcd(blackboxIInterval, blackboxPInterval); return blackboxPInterval;
} }
/** /**
@ -1721,14 +1717,14 @@ void blackboxInit(void)
} else { } else {
blackboxIInterval = (uint16_t)(32 * 1000 / gyro.targetLooptime); blackboxIInterval = (uint16_t)(32 * 1000 / gyro.targetLooptime);
} }
// by default p_denom is 32 and a P-frame is written every 1ms // by default p_ratio is 32 and a P-frame is written every 1ms
// if p_denom is zero then no P-frames are logged // if p_ratio is zero then no P-frames are logged
if (blackboxConfig()->p_denom == 0) { if (blackboxConfig()->p_ratio == 0) {
blackboxPInterval = 0; // blackboxPInterval not used when p_denom is zero, so just set it to zero blackboxPInterval = 0; // blackboxPInterval not used when p_ratio is zero, so just set it to zero
} else if (blackboxConfig()->p_denom > blackboxIInterval && blackboxIInterval >= 32) { } else if (blackboxConfig()->p_ratio > blackboxIInterval && blackboxIInterval >= 32) {
blackboxPInterval = 1; blackboxPInterval = 1;
} else { } else {
blackboxPInterval = blackboxIInterval / blackboxConfig()->p_denom; blackboxPInterval = blackboxIInterval / blackboxConfig()->p_ratio;
} }
if (blackboxConfig()->device) { if (blackboxConfig()->device) {
blackboxSetState(BLACKBOX_STATE_STOPPED); blackboxSetState(BLACKBOX_STATE_STOPPED);

3
src/main/blackbox/blackbox.h
View File

@ -48,7 +48,7 @@ typedef enum FlightLogEvent {
} FlightLogEvent; } FlightLogEvent;
typedef struct blackboxConfig_s { typedef struct blackboxConfig_s {
uint16_t p_denom; // I-frame interval / P-frame interval uint16_t p_ratio; // I-frame interval / P-frame interval
uint8_t device; uint8_t device;
uint8_t record_acc; uint8_t record_acc;
uint8_t mode; uint8_t mode;
@ -63,7 +63,6 @@ void blackboxInit(void);
void blackboxUpdate(timeUs_t currentTimeUs); void blackboxUpdate(timeUs_t currentTimeUs);
void blackboxSetStartDateTime(const char *dateTime, timeMs_t timeNowMs); void blackboxSetStartDateTime(const char *dateTime, timeMs_t timeNowMs);
int blackboxCalculatePDenom(int rateNum, int rateDenom); int blackboxCalculatePDenom(int rateNum, int rateDenom);
uint8_t blackboxGetRateNum(void);
uint8_t blackboxGetRateDenom(void); uint8_t blackboxGetRateDenom(void);
void blackboxValidateConfig(void); void blackboxValidateConfig(void);
void blackboxFinish(void); void blackboxFinish(void);

8
src/main/cms/cms_menu_blackbox.c
View File

@ -61,7 +61,7 @@ static const char * const cmsx_BlackboxDeviceNames[] = {
"SERIAL" "SERIAL"
}; };
static uint16_t blackboxConfig_p_denom; static uint16_t blackboxConfig_p_ratio;
static uint8_t cmsx_BlackboxDevice; static uint8_t cmsx_BlackboxDevice;
static OSD_TAB_t cmsx_BlackboxDeviceTable = { &cmsx_BlackboxDevice, 2, cmsx_BlackboxDeviceNames }; static OSD_TAB_t cmsx_BlackboxDeviceTable = { &cmsx_BlackboxDevice, 2, cmsx_BlackboxDeviceNames };
@ -172,7 +172,7 @@ static long cmsx_Blackbox_onEnter(void)
cmsx_Blackbox_GetDeviceStatus(); cmsx_Blackbox_GetDeviceStatus();
cmsx_BlackboxDevice = blackboxConfig()->device; cmsx_BlackboxDevice = blackboxConfig()->device;
blackboxConfig_p_denom = blackboxConfig()->p_denom; blackboxConfig_p_ratio = blackboxConfig()->p_ratio;
return 0; return 0;
} }
@ -184,7 +184,7 @@ static long cmsx_Blackbox_onExit(const OSD_Entry *self)
blackboxConfigMutable()->device = cmsx_BlackboxDevice; blackboxConfigMutable()->device = cmsx_BlackboxDevice;
blackboxValidateConfig(); blackboxValidateConfig();
} }
blackboxConfigMutable()->p_denom = blackboxConfig_p_denom; blackboxConfigMutable()->p_ratio = blackboxConfig_p_ratio;
return 0; return 0;
} }
@ -195,7 +195,7 @@ static OSD_Entry cmsx_menuBlackboxEntries[] =
{ "(STATUS)", OME_String, NULL, &cmsx_BlackboxStatus, 0 }, { "(STATUS)", OME_String, NULL, &cmsx_BlackboxStatus, 0 },
{ "(USED)", OME_String, NULL, &cmsx_BlackboxDeviceStorageUsed, 0 }, { "(USED)", OME_String, NULL, &cmsx_BlackboxDeviceStorageUsed, 0 },
{ "(FREE)", OME_String, NULL, &cmsx_BlackboxDeviceStorageFree, 0 }, { "(FREE)", OME_String, NULL, &cmsx_BlackboxDeviceStorageFree, 0 },
{ "P DENOM", OME_UINT16, NULL, &(OSD_UINT16_t){ &blackboxConfig_p_denom, 1, INT16_MAX, 1 },0 }, { "P RATIO", OME_UINT16, NULL, &(OSD_UINT16_t){ &blackboxConfig_p_ratio, 1, INT16_MAX, 1 },0 },
#ifdef USE_FLASHFS #ifdef USE_FLASHFS
{ "ERASE FLASH", OME_Funcall, cmsx_EraseFlash, NULL, 0 }, { "ERASE FLASH", OME_Funcall, cmsx_EraseFlash, NULL, 0 },

12
src/main/interface/msp.c
View File

@ -1146,9 +1146,9 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#ifdef USE_BLACKBOX #ifdef USE_BLACKBOX
sbufWriteU8(dst, 1); //Blackbox supported sbufWriteU8(dst, 1); //Blackbox supported
sbufWriteU8(dst, blackboxConfig()->device); sbufWriteU8(dst, blackboxConfig()->device);
sbufWriteU8(dst, blackboxGetRateNum()); sbufWriteU8(dst, 1); // Rate numerator, not used anymore
sbufWriteU8(dst, blackboxGetRateDenom()); sbufWriteU8(dst, blackboxGetRateDenom());
sbufWriteU16(dst, blackboxConfig()->p_denom); sbufWriteU16(dst, blackboxConfig()->p_ratio);
#else #else
sbufWriteU8(dst, 0); // Blackbox not supported sbufWriteU8(dst, 0); // Blackbox not supported
sbufWriteU8(dst, 0); sbufWriteU8(dst, 0);
@ -1751,11 +1751,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
const int rateNum = sbufReadU8(src); // was rate_num const int rateNum = sbufReadU8(src); // was rate_num
const int rateDenom = sbufReadU8(src); // was rate_denom const int rateDenom = sbufReadU8(src); // was rate_denom
if (sbufBytesRemaining(src) >= 2) { if (sbufBytesRemaining(src) >= 2) {
// p_denom specified, so use it directly // p_ratio specified, so use it directly
blackboxConfigMutable()->p_denom = sbufReadU16(src); blackboxConfigMutable()->p_ratio = sbufReadU16(src);
} else { } else {
// p_denom not specified in MSP, so calculate it from old rateNum and rateDenom // p_ratio not specified in MSP, so calculate it from old rateNum and rateDenom
blackboxConfigMutable()->p_denom = blackboxCalculatePDenom(rateNum, rateDenom); blackboxConfigMutable()->p_ratio = blackboxCalculatePDenom(rateNum, rateDenom);
} }
} }
break; break;

2
src/main/interface/settings.c
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@ -516,7 +516,7 @@ const clivalue_t valueTable[] = {
// PG_BLACKBOX_CONFIG // PG_BLACKBOX_CONFIG
#ifdef USE_BLACKBOX #ifdef USE_BLACKBOX
{ "blackbox_p_ratio", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, INT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, p_denom) }, { "blackbox_p_ratio", VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, INT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, p_ratio) },
{ "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) }, { "blackbox_device", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
{ "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) }, { "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
{ "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) }, { "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },

54
src/test/unit/blackbox_unittest.cc
View File

@ -55,7 +55,7 @@ gyroDev_t gyroDev;
TEST(BlackboxTest, TestInitIntervals) TEST(BlackboxTest, TestInitIntervals)
{ {
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
// 250Hz PIDloop // 250Hz PIDloop
gyro.targetLooptime = 4000; gyro.targetLooptime = 4000;
blackboxInit(); blackboxInit();
@ -123,7 +123,7 @@ TEST(BlackboxTest, TestInitIntervals)
TEST(BlackboxTest, Test_500Hz) TEST(BlackboxTest, Test_500Hz)
{ {
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
// 500Hz PIDloop // 500Hz PIDloop
gyro.targetLooptime = 2000; gyro.targetLooptime = 2000;
blackboxInit(); blackboxInit();
@ -141,7 +141,7 @@ TEST(BlackboxTest, Test_500Hz)
TEST(BlackboxTest, Test_1kHz) TEST(BlackboxTest, Test_1kHz)
{ {
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
// 1kHz PIDloop // 1kHz PIDloop
gyro.targetLooptime = 1000; gyro.targetLooptime = 1000;
blackboxInit(); blackboxInit();
@ -167,7 +167,7 @@ TEST(BlackboxTest, Test_1kHz)
TEST(BlackboxTest, Test_2kHz) TEST(BlackboxTest, Test_2kHz)
{ {
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
// 2kHz PIDloop // 2kHz PIDloop
gyro.targetLooptime = 500; gyro.targetLooptime = 500;
blackboxInit(); blackboxInit();
@ -200,7 +200,7 @@ TEST(BlackboxTest, Test_2kHz)
TEST(BlackboxTest, Test_8kHz) TEST(BlackboxTest, Test_8kHz)
{ {
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
// 8kHz PIDloop // 8kHz PIDloop
gyro.targetLooptime = 125; gyro.targetLooptime = 125;
blackboxInit(); blackboxInit();
@ -223,9 +223,9 @@ TEST(BlackboxTest, Test_8kHz)
EXPECT_EQ(true, blackboxShouldLogPFrame()); EXPECT_EQ(true, blackboxShouldLogPFrame());
} }
TEST(BlackboxTest, Test_zero_p_denom) TEST(BlackboxTest, Test_zero_p_ratio)
{ {
blackboxConfigMutable()->p_denom = 0; blackboxConfigMutable()->p_ratio = 0;
// 1kHz PIDloop // 1kHz PIDloop
gyro.targetLooptime = 1000; gyro.targetLooptime = 1000;
blackboxInit(); blackboxInit();
@ -246,9 +246,9 @@ TEST(BlackboxTest, Test_zero_p_denom)
TEST(BlackboxTest, Test_CalculatePDenom) TEST(BlackboxTest, Test_CalculatePDenom)
{ {
blackboxConfigMutable()->p_denom = 0; blackboxConfigMutable()->p_ratio = 0;
// note I-frame is logged every 32ms regardless of PIDloop rate // note I-frame is logged every 32ms regardless of PIDloop rate
// so p_denom is 32 when blackbox logging rate is 1kHz // so p_ratio is 32 when blackbox logging rate is 1kHz
// 1kHz PIDloop // 1kHz PIDloop
gyro.targetLooptime = 1000; gyro.targetLooptime = 1000;
@ -290,57 +290,65 @@ TEST(BlackboxTest, Test_CalculateRates)
{ {
// 1kHz PIDloop // 1kHz PIDloop
gyro.targetLooptime = 1000; gyro.targetLooptime = 1000;
blackboxConfigMutable()->p_denom = 32; blackboxConfigMutable()->p_ratio = 32;
blackboxInit(); blackboxInit();
EXPECT_EQ(32, blackboxIInterval); EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval); EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(1, blackboxGetRateDenom()); EXPECT_EQ(1, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 16; blackboxConfigMutable()->p_ratio = 16;
blackboxInit(); blackboxInit();
EXPECT_EQ(32, blackboxIInterval); EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval); EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(2, blackboxGetRateDenom()); EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 8; blackboxConfigMutable()->p_ratio = 8;
blackboxInit(); blackboxInit();
EXPECT_EQ(32, blackboxIInterval); EXPECT_EQ(32, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval); EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(4, blackboxGetRateDenom()); EXPECT_EQ(4, blackboxGetRateDenom());
// 8kHz PIDloop // 8kHz PIDloop
gyro.targetLooptime = 125; gyro.targetLooptime = 125;
blackboxConfigMutable()->p_denom = 32; // 1kHz logging blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxInit(); blackboxInit();
EXPECT_EQ(256, blackboxIInterval); EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(8, blackboxPInterval); EXPECT_EQ(8, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(8, blackboxGetRateDenom()); EXPECT_EQ(8, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 64; // 2kHz logging blackboxConfigMutable()->p_ratio = 48; // 1.5kHz logging
blackboxInit();
EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(5, blackboxPInterval);
EXPECT_EQ(5, blackboxGetRateDenom());
blackboxConfigMutable()->p_ratio = 64; // 2kHz logging
blackboxInit(); blackboxInit();
EXPECT_EQ(256, blackboxIInterval); EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(4, blackboxPInterval); EXPECT_EQ(4, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(4, blackboxGetRateDenom()); EXPECT_EQ(4, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 128; // 4kHz logging blackboxConfigMutable()->p_ratio = 128; // 4kHz logging
blackboxInit(); blackboxInit();
EXPECT_EQ(256, blackboxIInterval); EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(2, blackboxPInterval); EXPECT_EQ(2, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(2, blackboxGetRateDenom()); EXPECT_EQ(2, blackboxGetRateDenom());
blackboxConfigMutable()->p_denom = 256; // 8kHz logging blackboxConfigMutable()->p_ratio = 256; // 8kHz logging
blackboxInit(); blackboxInit();
EXPECT_EQ(256, blackboxIInterval); EXPECT_EQ(256, blackboxIInterval);
EXPECT_EQ(1, blackboxPInterval); EXPECT_EQ(1, blackboxPInterval);
EXPECT_EQ(1, blackboxGetRateNum());
EXPECT_EQ(1, blackboxGetRateDenom()); EXPECT_EQ(1, blackboxGetRateDenom());
// 0.126 PIDloop
gyro.targetLooptime = 126;
blackboxConfigMutable()->p_ratio = 32; // 1kHz logging
blackboxInit();
EXPECT_EQ(253, blackboxIInterval);
EXPECT_EQ(7, blackboxPInterval);
EXPECT_EQ(7, blackboxGetRateDenom());
} }