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Changed blackbox header to use currentProfile pointers

This commit is contained in:
Martin Budden 2016-12-21 15:26:48 +00:00
parent a893242d21
commit f2acdbc666
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("gyro_sync_denom:%d", gyroConfig()->gyro_sync_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);
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
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("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
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("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
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("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
BLACKBOX_PRINT_HEADER_LINE("magPID:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.vbatPidCompensation);
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidAtMinThrottle);
const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
const controlRateConfig_t *currentControlRateProfile = &currentProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", currentControlRateProfile->rcRate8);
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", currentControlRateProfile->rcExpo8);
BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", currentControlRateProfile->rcYawRate8);
BLACKBOX_PRINT_HEADER_LINE("rcYawExpo:%d", currentControlRateProfile->rcYawExpo8);
BLACKBOX_PRINT_HEADER_LINE("thrMid:%d", currentControlRateProfile->thrMid8);
BLACKBOX_PRINT_HEADER_LINE("thrExpo:%d", currentControlRateProfile->thrExpo8);
BLACKBOX_PRINT_HEADER_LINE("dynThrPID:%d", currentControlRateProfile->dynThrPID);
BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint:%d", currentControlRateProfile->tpa_breakpoint);
BLACKBOX_PRINT_HEADER_LINE("rates:%d,%d,%d", currentControlRateProfile->rates[ROLL],
currentControlRateProfile->rates[PITCH],
currentControlRateProfile->rates[YAW]);
BLACKBOX_PRINT_HEADER_LINE("rollPID:%d,%d,%d", currentProfile->pidProfile.P8[ROLL],
currentProfile->pidProfile.I8[ROLL],
currentProfile->pidProfile.D8[ROLL]);
BLACKBOX_PRINT_HEADER_LINE("pitchPID:%d,%d,%d", currentProfile->pidProfile.P8[PITCH],
currentProfile->pidProfile.I8[PITCH],
currentProfile->pidProfile.D8[PITCH]);
BLACKBOX_PRINT_HEADER_LINE("yawPID:%d,%d,%d", currentProfile->pidProfile.P8[YAW],
currentProfile->pidProfile.I8[YAW],
currentProfile->pidProfile.D8[YAW]);
BLACKBOX_PRINT_HEADER_LINE("altPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDALT],
currentProfile->pidProfile.I8[PIDALT],
currentProfile->pidProfile.D8[PIDALT]);
BLACKBOX_PRINT_HEADER_LINE("posPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOS],
currentProfile->pidProfile.I8[PIDPOS],
currentProfile->pidProfile.D8[PIDPOS]);
BLACKBOX_PRINT_HEADER_LINE("posrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDPOSR],
currentProfile->pidProfile.I8[PIDPOSR],
currentProfile->pidProfile.D8[PIDPOSR]);
BLACKBOX_PRINT_HEADER_LINE("navrPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDNAVR],
currentProfile->pidProfile.I8[PIDNAVR],
currentProfile->pidProfile.D8[PIDNAVR]);
BLACKBOX_PRINT_HEADER_LINE("levelPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDLEVEL],
currentProfile->pidProfile.I8[PIDLEVEL],
currentProfile->pidProfile.D8[PIDLEVEL]);
BLACKBOX_PRINT_HEADER_LINE("magPID:%d", currentProfile->pidProfile.P8[PIDMAG]);
BLACKBOX_PRINT_HEADER_LINE("velPID:%d,%d,%d", currentProfile->pidProfile.P8[PIDVEL],
currentProfile->pidProfile.I8[PIDVEL],
currentProfile->pidProfile.D8[PIDVEL]);
BLACKBOX_PRINT_HEADER_LINE("dterm_filter_type:%d", currentProfile->pidProfile.dterm_filter_type);
BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz:%d", currentProfile->pidProfile.dterm_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", currentProfile->pidProfile.yaw_lpf_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz:%d", currentProfile->pidProfile.dterm_notch_hz);
BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff:%d", currentProfile->pidProfile.dterm_notch_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rollPitchItermIgnoreRate:%d", currentProfile->pidProfile.rollPitchItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yawItermIgnoreRate:%d", currentProfile->pidProfile.yawItermIgnoreRate);
BLACKBOX_PRINT_HEADER_LINE("yaw_p_limit:%d", currentProfile->pidProfile.yaw_p_limit);
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
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.itermThrottleGain);
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", currentProfile->pidProfile.itermThrottleGain);
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentProfile->pidProfile.setpointRelaxRatio);
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", currentProfile->pidProfile.yawRateAccelLimit);
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", currentProfile->pidProfile.rateAccelLimit);
// End of Betaflight controller parameters
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);