Merge pull request #3345 from martinbudden/bf_blackbox_tidy

Minor tidy of blackbox code. iNav alignment

src/main/blackbox/blackbox.c

@@ -69,6 +69,7 @@
 #include "sensors/gyro.h"
 #include "sensors/sonar.h"
 
+
 #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
 #define DEFAULT_BLACKBOX_DEVICE     BLACKBOX_DEVICE_FLASH
 #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
@@ -262,20 +263,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
 
 typedef enum BlackboxState {
     BLACKBOX_STATE_DISABLED = 0,
-    BLACKBOX_STATE_STOPPED, //1
+    BLACKBOX_STATE_STOPPED,
-    BLACKBOX_STATE_PREPARE_LOG_FILE, //2
+    BLACKBOX_STATE_PREPARE_LOG_FILE,
-    BLACKBOX_STATE_SEND_HEADER, //3
+    BLACKBOX_STATE_SEND_HEADER,
-    BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER, //4
+    BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
-    BLACKBOX_STATE_SEND_GPS_H_HEADER, //5
+    BLACKBOX_STATE_SEND_GPS_H_HEADER,
-    BLACKBOX_STATE_SEND_GPS_G_HEADER, //6
+    BLACKBOX_STATE_SEND_GPS_G_HEADER,
-    BLACKBOX_STATE_SEND_SLOW_HEADER, //7
+    BLACKBOX_STATE_SEND_SLOW_HEADER,
-    BLACKBOX_STATE_SEND_SYSINFO, //8
+    BLACKBOX_STATE_SEND_SYSINFO,
-    BLACKBOX_STATE_PAUSED, //9
+    BLACKBOX_STATE_PAUSED,
-    BLACKBOX_STATE_RUNNING, //10
+    BLACKBOX_STATE_RUNNING,
-    BLACKBOX_STATE_SHUTTING_DOWN, //11
+    BLACKBOX_STATE_SHUTTING_DOWN,
-    BLACKBOX_STATE_START_ERASE, //12
+    BLACKBOX_STATE_START_ERASE,
-    BLACKBOX_STATE_ERASING, //13
+    BLACKBOX_STATE_ERASING,
-    BLACKBOX_STATE_ERASED //14
+    BLACKBOX_STATE_ERASED
 } BlackboxState;
 
 
@@ -309,7 +310,8 @@ typedef struct blackboxMainState_s {
 } blackboxMainState_t;
 
 typedef struct blackboxGpsState_s {
-    int32_t GPS_home[2], GPS_coord[2];
+    int32_t GPS_home[2];
+    int32_t GPS_coord[2];
     uint8_t GPS_numSat;
 } blackboxGpsState_t;
 
@@ -333,7 +335,6 @@ static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
 static uint32_t blackboxLastArmingBeep = 0;
 static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
 
-
 static struct {
     uint32_t headerIndex;
 
@@ -352,7 +353,8 @@ static uint32_t blackboxConditionCache;
 STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
 
 static uint32_t blackboxIteration;
-static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
+static uint16_t blackboxPFrameIndex;
+static uint16_t blackboxIFrameIndex;
 static uint16_t blackboxSlowFrameIterationTimer;
 static bool blackboxLoggedAnyFrames;
 
@@ -623,8 +625,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
 
 static void writeInterframe(void)
 {
-    int32_t deltas[8];
-
     blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
     blackboxMainState_t *blackboxLast = blackboxHistory[1];
 
@@ -638,6 +638,7 @@ static void writeInterframe(void)
      */
     blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
 
+    int32_t deltas[8];
     arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
     blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
 
@@ -1369,30 +1370,25 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
 /* If an arming beep has played since it was last logged, write the time of the arming beep to the log as a synchronization point */
 static void blackboxCheckAndLogArmingBeep(void)
 {
-    flightLogEvent_syncBeep_t eventData;
-
     // Use != so that we can still detect a change if the counter wraps
     if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
         blackboxLastArmingBeep = getArmingBeepTimeMicros();
-
+        flightLogEvent_syncBeep_t eventData;
         eventData.time = blackboxLastArmingBeep;
-
+        blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *)&eventData);
-        blackboxLogEvent(FLIGHT_LOG_EVENT_SYNC_BEEP, (flightLogEventData_t *) &eventData);
     }
 }
 
 /* monitor the flight mode event status and trigger an event record if the state changes */
 static void blackboxCheckAndLogFlightMode(void)
 {
-    flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
-
     // Use != so that we can still detect a change if the counter wraps
     if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
+        flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
         eventData.lastFlags = blackboxLastFlightModeFlags;
         memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
         memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
-
+        blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
-        blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
     }
 }