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Merge pull request #1865 from martinbudden/bf_blackbox_header 

Changed blackbox header to use currentProfile pointers
This commit is contained in:
J Blackman 2016-12-28 03:41:26 +11:00 committed by GitHub
parent c772ca6ea5 f2acdbc666
commit d0d335a5e5
1 changed files with 57 additions and 55 deletions
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112
src/main/blackbox/blackbox.c
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@ -1200,63 +1200,65 @@ static bool blackboxWriteSysinfo()
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("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8); const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8); const controlRateConfig_t *currentControlRateProfile = &currentProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8); BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", currentControlRateProfile->rcRate8);
BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", currentControlRateProfile->rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8); BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", currentControlRateProfile->rcYawRate8);
BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8); BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", currentControlRateProfile->rcYawExpo8);
BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID); BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", currentControlRateProfile->thrMid8);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint); BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", currentControlRateProfile->thrExpo8);
BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL], BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", currentControlRateProfile->dynThrPID);
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH], BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", currentControlRateProfile->tpa_breakpoint);
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]); BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL],
BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL], currentControlRateProfile->rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL], currentControlRateProfile->rates[YAW]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]); BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentProfile->pidProfile.P8[ROLL],
BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH], currentProfile->pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH], currentProfile->pidProfile.D8[ROLL]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]); BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentProfile->pidProfile.P8[PITCH],
BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW], currentProfile->pidProfile.I8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW], currentProfile->pidProfile.D8[PITCH]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]); BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentProfile->pidProfile.P8[YAW],
BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT], currentProfile->pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT], currentProfile->pidProfile.D8[YAW]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]); BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDALT],
BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS], currentProfile->pidProfile.I8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS], currentProfile->pidProfile.D8[PIDALT]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]); BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOS],
BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR], currentProfile->pidProfile.I8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR], currentProfile->pidProfile.D8[PIDPOS]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]); BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOSR],
BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR], currentProfile->pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR], currentProfile->pidProfile.D8[PIDPOSR]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]); BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDNAVR],
BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL], currentProfile->pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL], currentProfile->pidProfile.D8[PIDNAVR]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]); BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDLEVEL],
BLACKBOX_PRINT_HEADER_LINE("magPID:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]); currentProfile->pidProfile.I8[PIDLEVEL],
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL], currentProfile->pidProfile.D8[PIDLEVEL]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL], BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentProfile->pidProfile.P8[PIDMAG]);
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]); BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDVEL],
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type); currentProfile->pidProfile.I8[PIDVEL],
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz); currentProfile->pidProfile.D8[PIDVEL]);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", currentProfile->pidProfile.dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz); BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", currentProfile->pidProfile.dterm_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff); BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", currentProfile->pidProfile.yaw_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate); BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentProfile->pidProfile.dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate); BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentProfile->pidProfile.dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit); BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", currentProfile->pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count); BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", currentProfile->pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation); BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentProfile->pidProfile.yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle); BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", currentProfile->pidProfile.dterm_average_count);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", currentProfile->pidProfile.vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentProfile->pidProfile.pidAtMinThrottle);
// Betaflight PID controller parameters // Betaflight PID controller parameters
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain); BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", currentProfile->pidProfile.itermThrottleGain);
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.setpointRelaxRatio); BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentProfile->pidProfile.setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight); BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit); BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", currentProfile->pidProfile.yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit); BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", currentProfile->pidProfile.rateAccelLimit);
// 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);