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Don't break the blackbox stream when PIDs change in-flight

This commit is contained in:
Nicholas Sherlock 2015-01-14 15:42:38 +13:00
parent f7a9a628b6
commit b893e457f1
2 changed files with 33 additions and 19 deletions
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39
src/main/blackbox/blackbox.c
View File

@ -267,6 +267,8 @@ static struct {
} u;
} xmitState;
static uint32_t blackboxConditionCache;
static uint32_t blackboxIteration;
static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
@ -582,7 +584,7 @@ static void writeTag8_8SVB(int32_t *values, int valueCount)
}
}
static bool testBlackboxCondition(FlightLogFieldCondition condition)
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
{
switch (condition) {
case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
@ -597,19 +599,10 @@ static bool testBlackboxCondition(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
return motorCount >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
return masterConfig.mixerMode == MIXER_TRI;
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_2:
return currentProfile->pidProfile.P8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0] != 0;
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_1:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_2:
return currentProfile->pidProfile.I8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0] != 0;
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
@ -639,6 +632,23 @@ static bool testBlackboxCondition(FlightLogFieldCondition condition)
}
}
static void blackboxBuildConditionCache()
{
FlightLogFieldCondition cond;
blackboxConditionCache = 0;
for (cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
if (testBlackboxConditionUncached(cond))
blackboxConditionCache |= 1 << cond;
}
}
static bool testBlackboxCondition(FlightLogFieldCondition condition)
{
return (blackboxConditionCache & (1 << condition)) != 0;
}
static void blackboxSetState(BlackboxState newState)
{
//Perform initial setup required for the new state
@ -908,6 +918,13 @@ void startBlackbox(void)
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
}
}

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

@ -29,21 +29,18 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
FLIGHT_LOG_FIELD_CONDITION_TRICOPTER,
FLIGHT_LOG_FIELD_CONDITION_MAG = 20,
FLIGHT_LOG_FIELD_CONDITION_MAG,
FLIGHT_LOG_FIELD_CONDITION_BARO,
FLIGHT_LOG_FIELD_CONDITION_VBAT,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0 = 40,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_2,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_2,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
FLIGHT_LOG_FIELD_CONDITION_NEVER = 255,
FLIGHT_LOG_FIELD_CONDITION_NEVER,
FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,
FLIGHT_LOG_FIELD_CONDITION_LAST = FLIGHT_LOG_FIELD_CONDITION_NEVER
} FlightLogFieldCondition;
typedef enum FlightLogFieldPredictor {