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Merge pull request #3345 from martinbudden/bf_blackbox_tidy 

Minor tidy of blackbox code. iNav alignment
This commit is contained in:
Martin Budden 2017-06-25 11:35:19 +01:00 committed by GitHub
parent d714624b7b 58fdace43c
commit bf250c2c27
1 changed files with 119 additions and 123 deletions
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242
src/main/blackbox/blackbox.c
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@ -69,6 +69,7 @@
#include "sensors/gyro.h" #include "sensors/gyro.h"
#include "sensors/sonar.h" #include "sensors/sonar.h"
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT) #if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH #define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT) #elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
@ -262,20 +263,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
typedef enum BlackboxState { typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0, 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; } BlackboxState;
@ -309,7 +310,8 @@ typedef struct blackboxMainState_s {
} blackboxMainState_t; } blackboxMainState_t;
typedef struct blackboxGpsState_s { 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; uint8_t GPS_numSat;
} blackboxGpsState_t; } blackboxGpsState_t;
@ -333,7 +335,6 @@ static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0; static uint32_t blackboxLastArmingBeep = 0;
static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
static struct { static struct {
uint32_t headerIndex; 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_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIteration; static uint32_t blackboxIteration;
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex; static uint16_t blackboxPFrameIndex;
static uint16_t blackboxIFrameIndex;
static uint16_t blackboxSlowFrameIterationTimer; static uint16_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames; static bool blackboxLoggedAnyFrames;
@ -623,8 +625,6 @@ static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHist
static void writeInterframe(void) static void writeInterframe(void)
{ {
int32_t deltas[8];
blackboxMainState_t *blackboxCurrent = blackboxHistory[0]; blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxMainState_t *blackboxLast = blackboxHistory[1]; 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)); 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); arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT); blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
@ -1198,16 +1199,16 @@ static bool blackboxWriteSysinfo(void)
const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile); const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
switch (xmitState.headerIndex) { switch (xmitState.headerIndex) {
BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight"); BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight");
BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName); BLACKBOX_PRINT_HEADER_LINE("Firmware revision", "%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s", buildDate, buildTime); BLACKBOX_PRINT_HEADER_LINE("Firmware date", "%s %s", buildDate, buildTime);
BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->name); BLACKBOX_PRINT_HEADER_LINE("Craft name", "%s", systemConfig()->name);
BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom); BLACKBOX_PRINT_HEADER_LINE("P interval", "%d/%d", blackboxConfig()->rate_num, blackboxConfig()->rate_denom);
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));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLowInt,motorOutputHighInt); BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLowInt,motorOutputHighInt);
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G); BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM( BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) { if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
@ -1217,10 +1218,10 @@ static bool blackboxWriteSysinfo(void)
} }
); );
BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u", batteryConfig()->vbatmincellvoltage, BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage", "%u,%u,%u", batteryConfig()->vbatmincellvoltage,
batteryConfig()->vbatwarningcellvoltage, batteryConfig()->vbatwarningcellvoltage,
batteryConfig()->vbatmaxcellvoltage); batteryConfig()->vbatmaxcellvoltage);
BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u", vbatReference); BLACKBOX_PRINT_HEADER_LINE("vbatref", "%u", vbatReference);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM( BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) { if (batteryConfig()->currentMeterSource == CURRENT_METER_ADC) {
@ -1228,92 +1229,92 @@ static bool blackboxWriteSysinfo(void)
} }
); );
BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", gyro.targetLooptime); BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", gyro.targetLooptime);
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", gyroConfig()->gyro_sync_denom); BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", gyroConfig()->gyro_sync_denom);
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d", pidConfig()->pid_process_denom); BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d", pidConfig()->pid_process_denom);
BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d", currentControlRateProfile->rcRate8); BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d", currentControlRateProfile->rcRate8);
BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d", currentControlRateProfile->rcExpo8); BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d", currentControlRateProfile->rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("rc_rate_yaw", "%d", currentControlRateProfile->rcYawRate8); BLACKBOX_PRINT_HEADER_LINE("rc_rate_yaw", "%d", currentControlRateProfile->rcYawRate8);
BLACKBOX_PRINT_HEADER_LINE("rc_expo_yaw", "%d", currentControlRateProfile->rcYawExpo8); BLACKBOX_PRINT_HEADER_LINE("rc_expo_yaw", "%d", currentControlRateProfile->rcYawExpo8);
BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d", currentControlRateProfile->thrMid8); BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d", currentControlRateProfile->thrMid8);
BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d", currentControlRateProfile->thrExpo8); BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d", currentControlRateProfile->thrExpo8);
BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d", currentControlRateProfile->dynThrPID); BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d", currentControlRateProfile->dynThrPID);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlRateProfile->tpa_breakpoint); BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlRateProfile->tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL], BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL],
currentControlRateProfile->rates[PITCH], currentControlRateProfile->rates[PITCH],
currentControlRateProfile->rates[YAW]); currentControlRateProfile->rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].P, BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d", currentPidProfile->pid[PID_ROLL].P,
currentPidProfile->pid[PID_ROLL].I, currentPidProfile->pid[PID_ROLL].I,
currentPidProfile->pid[PID_ROLL].D); currentPidProfile->pid[PID_ROLL].D);
BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d", currentPidProfile->pid[PID_PITCH].P, BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d", currentPidProfile->pid[PID_PITCH].P,
currentPidProfile->pid[PID_PITCH].I, currentPidProfile->pid[PID_PITCH].I,
currentPidProfile->pid[PID_PITCH].D); currentPidProfile->pid[PID_PITCH].D);
BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->pid[PID_YAW].P, BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d", currentPidProfile->pid[PID_YAW].P,
currentPidProfile->pid[PID_YAW].I, currentPidProfile->pid[PID_YAW].I,
currentPidProfile->pid[PID_YAW].D); currentPidProfile->pid[PID_YAW].D);
BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->pid[PID_ALT].P, BLACKBOX_PRINT_HEADER_LINE("altPID", "%d,%d,%d", currentPidProfile->pid[PID_ALT].P,
currentPidProfile->pid[PID_ALT].I, currentPidProfile->pid[PID_ALT].I,
currentPidProfile->pid[PID_ALT].D); currentPidProfile->pid[PID_ALT].D);
BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->pid[PID_POS].P, BLACKBOX_PRINT_HEADER_LINE("posPID", "%d,%d,%d", currentPidProfile->pid[PID_POS].P,
currentPidProfile->pid[PID_POS].I, currentPidProfile->pid[PID_POS].I,
currentPidProfile->pid[PID_POS].D); currentPidProfile->pid[PID_POS].D);
BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->pid[PID_POSR].P, BLACKBOX_PRINT_HEADER_LINE("posrPID", "%d,%d,%d", currentPidProfile->pid[PID_POSR].P,
currentPidProfile->pid[PID_POSR].I, currentPidProfile->pid[PID_POSR].I,
currentPidProfile->pid[PID_POSR].D); currentPidProfile->pid[PID_POSR].D);
BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->pid[PID_NAVR].P, BLACKBOX_PRINT_HEADER_LINE("navrPID", "%d,%d,%d", currentPidProfile->pid[PID_NAVR].P,
currentPidProfile->pid[PID_NAVR].I, currentPidProfile->pid[PID_NAVR].I,
currentPidProfile->pid[PID_NAVR].D); currentPidProfile->pid[PID_NAVR].D);
BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->pid[PID_LEVEL].P, BLACKBOX_PRINT_HEADER_LINE("levelPID", "%d,%d,%d", currentPidProfile->pid[PID_LEVEL].P,
currentPidProfile->pid[PID_LEVEL].I, currentPidProfile->pid[PID_LEVEL].I,
currentPidProfile->pid[PID_LEVEL].D); currentPidProfile->pid[PID_LEVEL].D);
BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->pid[PID_MAG].P); BLACKBOX_PRINT_HEADER_LINE("magPID", "%d", currentPidProfile->pid[PID_MAG].P);
BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->pid[PID_VEL].P, BLACKBOX_PRINT_HEADER_LINE("velPID", "%d,%d,%d", currentPidProfile->pid[PID_VEL].P,
currentPidProfile->pid[PID_VEL].I, currentPidProfile->pid[PID_VEL].I,
currentPidProfile->pid[PID_VEL].D); currentPidProfile->pid[PID_VEL].D);
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d", currentPidProfile->dterm_filter_type); BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type", "%d", currentPidProfile->dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d", currentPidProfile->dterm_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d", currentPidProfile->dterm_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d", currentPidProfile->yaw_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d", currentPidProfile->yaw_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz); BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff); BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d", currentPidProfile->itermWindupPointPercent); BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d", currentPidProfile->itermWindupPointPercent);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d", currentPidProfile->vbatPidCompensation); BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d", currentPidProfile->vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle); BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle);
// Betaflight PID controller parameters // Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d", currentPidProfile->itermThrottleThreshold); BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d", currentPidProfile->itermThrottleThreshold);
BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d", currentPidProfile->itermAcceleratorGain); BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d", currentPidProfile->itermAcceleratorGain);
BLACKBOX_PRINT_HEADER_LINE("setpoint_relaxation_ratio", "%d", currentPidProfile->setpointRelaxRatio); BLACKBOX_PRINT_HEADER_LINE("setpoint_relaxation_ratio", "%d", currentPidProfile->setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%d", currentPidProfile->dtermSetpointWeight); BLACKBOX_PRINT_HEADER_LINE("dterm_setpoint_weight", "%d", currentPidProfile->dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d", currentPidProfile->yawRateAccelLimit); BLACKBOX_PRINT_HEADER_LINE("acc_limit_yaw", "%d", currentPidProfile->yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d", currentPidProfile->rateAccelLimit); BLACKBOX_PRINT_HEADER_LINE("acc_limit", "%d", currentPidProfile->rateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d", currentPidProfile->pidSumLimit); BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d", currentPidProfile->pidSumLimit);
BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d", currentPidProfile->pidSumLimitYaw); BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d", currentPidProfile->pidSumLimitYaw);
// End of Betaflight controller parameters // End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband); BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband); BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband);
BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf); BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d", gyroConfig()->gyro_soft_lpf_type); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d", gyroConfig()->gyro_soft_lpf_type);
BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d", gyroConfig()->gyro_soft_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d", gyroConfig()->gyro_soft_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1, BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1,
gyroConfig()->gyro_soft_notch_hz_2); gyroConfig()->gyro_soft_notch_hz_2);
BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1, BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1,
gyroConfig()->gyro_soft_notch_cutoff_2); gyroConfig()->gyro_soft_notch_cutoff_2);
BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f));
BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware); BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware);
BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware); BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware); BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d", armingConfig()->gyro_cal_on_first_arm); BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d", armingConfig()->gyro_cal_on_first_arm);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d", rxConfig()->rcInterpolation); BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d", rxConfig()->rcInterpolation);
BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d", rxConfig()->rcInterpolationInterval); BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d", rxConfig()->rcInterpolationInterval);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d", rxConfig()->airModeActivateThreshold); BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d", rxConfig()->airModeActivateThreshold);
BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d", rxConfig()->serialrx_provider); BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d", rxConfig()->serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d", motorConfig()->dev.useUnsyncedPwm); BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d", motorConfig()->dev.useUnsyncedPwm);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol); BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol);
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d", motorConfig()->dev.motorPwmRate); BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d", motorConfig()->dev.motorPwmRate);
BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d", motorConfig()->digitalIdleOffsetValue); BLACKBOX_PRINT_HEADER_LINE("dshot_idle_value", "%d", motorConfig()->digitalIdleOffsetValue);
BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d", systemConfig()->debug_mode); BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d", systemConfig()->debug_mode);
BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures); BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);
default: default:
return true; return true;
@ -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 */ /* 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) static void blackboxCheckAndLogArmingBeep(void)
{ {
flightLogEvent_syncBeep_t eventData;
// Use != so that we can still detect a change if the counter wraps // Use != so that we can still detect a change if the counter wraps
if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) { if (getArmingBeepTimeMicros() != blackboxLastArmingBeep) {
blackboxLastArmingBeep = getArmingBeepTimeMicros(); blackboxLastArmingBeep = getArmingBeepTimeMicros();
flightLogEvent_syncBeep_t eventData;
eventData.time = blackboxLastArmingBeep; 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 */ /* monitor the flight mode event status and trigger an event record if the state changes */
static void blackboxCheckAndLogFlightMode(void) 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 // Use != so that we can still detect a change if the counter wraps
if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) { if (memcmp(&rcModeActivationMask, &blackboxLastFlightModeFlags, sizeof(blackboxLastFlightModeFlags))) {
flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
eventData.lastFlags = blackboxLastFlightModeFlags; eventData.lastFlags = blackboxLastFlightModeFlags;
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags));
memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags)); memcpy(&eventData.flags, &rcModeActivationMask, sizeof(eventData.flags));
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *)&eventData);
blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
} }
} }