Blackbox Coding Simplification
Simplified header record writing using macros to outnumber the case statements
This commit is contained in:
Gary Keeble
borisbstyle
parent
3788716c0a
commit
a3c2a0901a
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@ -1118,6 +1118,15 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
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return xmitState.headerIndex < headerCount;
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}
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#ifndef BLACKBOX_PRINT_HEADER_LINE
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#define BLACKBOX_PRINT_HEADER_LINE(x, ...) case __COUNTER__: \
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blackboxPrintfHeaderLine(x, __VA_ARGS__); \
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break;
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#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \
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{__VA_ARGS__}; \
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break;
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#endif
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/**
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* Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns
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* true iff transmission is complete, otherwise call again later to continue transmission.
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@ -1130,212 +1139,97 @@ static bool blackboxWriteSysinfo()
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}
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switch (xmitState.headerIndex) {
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case 0:
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blackboxPrintfHeaderLine("Firmware type:Cleanflight");
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break;
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case 1:
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blackboxPrintfHeaderLine("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
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break;
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case 2:
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blackboxPrintfHeaderLine("Firmware date:%s %s", buildDate, buildTime);
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break;
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case 3:
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blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
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break;
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case 4:
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blackboxPrintfHeaderLine("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
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break;
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case 5:
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blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
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break;
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case 6:
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blackboxPrintfHeaderLine("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
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break;
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case 7:
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blackboxPrintfHeaderLine("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
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break;
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case 8:
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blackboxPrintfHeaderLine("acc_1G:%u", acc_1G);
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break;
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case 9:
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BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");
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BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName);
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BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime);
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BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
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BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle);
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BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle);
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BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale));
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BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc_1G);
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BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
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if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
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blackboxPrintfHeaderLine("vbatscale:%u", masterConfig.batteryConfig.vbatscale);
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} else {
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xmitState.headerIndex += 2; // Skip the next two vbat fields too
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}
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break;
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case 10:
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blackboxPrintfHeaderLine("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage,
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masterConfig.batteryConfig.vbatwarningcellvoltage, masterConfig.batteryConfig.vbatmaxcellvoltage);
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break;
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case 11:
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blackboxPrintfHeaderLine("vbatref:%u", vbatReference);
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break;
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case 12:
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);
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BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage,
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masterConfig.batteryConfig.vbatwarningcellvoltage,
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masterConfig.batteryConfig.vbatmaxcellvoltage);
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BLACKBOX_PRINT_HEADER_LINE("vbatref:%u", vbatReference);
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BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
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//Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too:
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if (feature(FEATURE_CURRENT_METER)) {
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blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
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}
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break;
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case 13:
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blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
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break;
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case 14:
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blackboxPrintfHeaderLine("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
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break;
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case 15:
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blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
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break;
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case 16:
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blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
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break;
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case 17:
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blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
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break;
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case 18:
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blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
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break;
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case 19:
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blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
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break;
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case 20:
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blackboxPrintfHeaderLine("rates:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
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break;
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case 21:
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blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
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break;
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case 22:
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blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
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break;
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case 23:
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blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
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break;
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case 24:
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blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
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break;
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case 25:
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blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
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break;
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case 26:
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blackboxPrintfHeaderLine("altPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
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break;
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case 27:
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blackboxPrintfHeaderLine("posPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
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break;
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case 28:
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blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
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break;
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case 29:
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blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
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break;
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case 30:
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blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
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break;
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case 31:
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blackboxPrintfHeaderLine("magPID:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
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break;
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case 32:
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blackboxPrintfHeaderLine("velPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
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break;
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case 33:
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blackboxPrintfHeaderLine("yaw_p_limit:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
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break;
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case 34:
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blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
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(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
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break;
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case 35:
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blackboxPrintfHeaderLine("dterm_average_count:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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break;
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case 36:
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blackboxPrintfHeaderLine("dynamic_pid:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
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break;
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case 37:
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blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
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break;
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case 38:
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blackboxPrintfHeaderLine("yawItermResetRate:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
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break;
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case 39:
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blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
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(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
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break;
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case 40:
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blackboxPrintfHeaderLine("airmode_activate_throttle:%d",
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masterConfig.rxConfig.airModeActivateThreshold);
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break;
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case 41:
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blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
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break;
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case 42:
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blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
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break;
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case 43:
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blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf);
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break;
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case 44:
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blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
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break;
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case 45:
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blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
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break;
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case 46:
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blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware);
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break;
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case 47:
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blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware);
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break;
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case 48:
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blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware);
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break;
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case 49:
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blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
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break;
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case 50:
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blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
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break;
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case 51:
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blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
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break;
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case 52:
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blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures);
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break;
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);
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BLACKBOX_PRINT_HEADER_LINE("looptime:%d", targetLooptime);
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BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8);
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BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
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BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
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BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
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BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
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BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
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BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
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BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
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BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
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BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
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BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
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BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
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BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
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BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
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BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
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BLACKBOX_PRINT_HEADER_LINE("magPID:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
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BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
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BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
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BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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BLACKBOX_PRINT_HEADER_LINE("dynamic_pid:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid);
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BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
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BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband);
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BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf);
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BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
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BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware);
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BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);
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BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.mag_hardware);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
|
||||
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
|
||||
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
|
||||
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
|
||||
|
||||
default:
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue