mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-17 21:35:44 +03:00
Add logging of the inflight adjustment events to the blackbox
This commit is contained in:
Alexander Fedorov
parent
5dee96c3e0
commit
00bff6485b
5 changed files with 137 additions and 52 deletions
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@ -53,6 +53,8 @@
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#include "flight/navigation.h"
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#include "flight/failsafe.h"
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#include "blackbox/blackbox.h"
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#include "mw.h"
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@ -67,6 +69,30 @@ int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+
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uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e
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void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
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#ifdef BLACKBOX
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if (feature(FEATURE_BLACKBOX)) {
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flightLogEvent_inflightAdjustment_t eventData;
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eventData.adjustmentFunction = adjustmentFunction;
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eventData.newValue = newValue;
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eventData.floatFlag = false;
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blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
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}
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#endif
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}
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void blackboxLogInflightAdjustmentEventFloat(adjustmentFunction_e adjustmentFunction, float newFloatValue) {
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#ifdef BLACKBOX
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if (feature(FEATURE_BLACKBOX)) {
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flightLogEvent_inflightAdjustment_t eventData;
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eventData.adjustmentFunction = adjustmentFunction;
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eventData.newFloatValue = newFloatValue;
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eventData.floatFlag = true;
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blackboxLogEvent(FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT, (flightLogEventData_t*)&eventData);
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}
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#endif
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}
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bool isUsingSticksForArming(void)
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{
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return isUsingSticksToArm;
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@ -88,8 +114,6 @@ throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband
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return THROTTLE_HIGH;
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}
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void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool retarded_arm, bool disarm_kill_switch)
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{
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static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
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@ -443,44 +467,52 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
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}
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switch(adjustmentFunction) {
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case ADJUSTMENT_RC_RATE:
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newValue = (int)controlRateConfig->rcRate8 + delta;
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controlRateConfig->rcRate8 = constrain(newValue, 0, 250); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)controlRateConfig->rcRate8 + delta, 0, 250); // FIXME magic numbers repeated in serial_cli.c
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controlRateConfig->rcRate8 = newValue;
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generatePitchRollCurve(controlRateConfig);
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_RATE, newValue);
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break;
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case ADJUSTMENT_RC_EXPO:
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newValue = (int)controlRateConfig->rcExpo8 + delta;
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controlRateConfig->rcExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)controlRateConfig->rcExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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controlRateConfig->rcExpo8 = newValue;
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generatePitchRollCurve(controlRateConfig);
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break;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RC_EXPO, newValue);
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break;
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case ADJUSTMENT_THROTTLE_EXPO:
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newValue = (int)controlRateConfig->thrExpo8 + delta;
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controlRateConfig->thrExpo8 = constrain(newValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)controlRateConfig->thrExpo8 + delta, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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controlRateConfig->thrExpo8 = newValue;
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generateThrottleCurve(controlRateConfig, escAndServoConfig);
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break;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_THROTTLE_EXPO, newValue);
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break;
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case ADJUSTMENT_PITCH_ROLL_RATE:
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case ADJUSTMENT_PITCH_RATE:
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newValue = (int)controlRateConfig->rates[FD_PITCH] + delta;
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controlRateConfig->rates[FD_PITCH] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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newValue = constrain((int)controlRateConfig->rates[FD_PITCH] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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controlRateConfig->rates[FD_PITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_RATE, newValue);
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if (adjustmentFunction == ADJUSTMENT_PITCH_RATE) {
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break;
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}
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// follow though for combined ADJUSTMENT_PITCH_ROLL_RATE
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case ADJUSTMENT_ROLL_RATE:
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newValue = (int)controlRateConfig->rates[FD_ROLL] + delta;
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controlRateConfig->rates[FD_ROLL] = constrain(newValue, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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newValue = constrain((int)controlRateConfig->rates[FD_ROLL] + delta, 0, CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX);
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controlRateConfig->rates[FD_ROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_RATE, newValue);
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break;
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case ADJUSTMENT_YAW_RATE:
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newValue = (int)controlRateConfig->rates[FD_YAW] + delta;
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controlRateConfig->rates[FD_YAW] = constrain(newValue, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
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newValue = constrain((int)controlRateConfig->rates[FD_YAW] + delta, 0, CONTROL_RATE_CONFIG_YAW_RATE_MAX);
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controlRateConfig->rates[FD_YAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_RATE, newValue);
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break;
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case ADJUSTMENT_PITCH_ROLL_P:
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case ADJUSTMENT_PITCH_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f);
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pidProfile->P_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->P_f[PIDPITCH] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_P, newFloatValue);
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} else {
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newValue = (int)pidProfile->P8[PIDPITCH] + delta;
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pidProfile->P8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->P8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_P, newValue);
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}
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if (adjustmentFunction == ADJUSTMENT_PITCH_P) {
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break;
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@ -488,21 +520,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
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// follow though for combined ADJUSTMENT_PITCH_ROLL_P
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case ADJUSTMENT_ROLL_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f);
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pidProfile->P_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->P_f[PIDROLL] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_P, newFloatValue);
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} else {
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newValue = (int)pidProfile->P8[PIDROLL] + delta;
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pidProfile->P8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->P8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_P, newValue);
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}
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break;
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case ADJUSTMENT_PITCH_ROLL_I:
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case ADJUSTMENT_PITCH_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f);
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pidProfile->I_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->I_f[PIDPITCH] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_I, newFloatValue);
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} else {
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newValue = (int)pidProfile->I8[PIDPITCH] + delta;
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pidProfile->I8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->I8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_I, newValue);
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}
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if (adjustmentFunction == ADJUSTMENT_PITCH_I) {
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break;
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@ -510,21 +546,25 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
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// follow though for combined ADJUSTMENT_PITCH_ROLL_I
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case ADJUSTMENT_ROLL_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f);
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pidProfile->I_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->I_f[PIDROLL] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_I, newFloatValue);
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} else {
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newValue = (int)pidProfile->I8[PIDROLL] + delta;
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pidProfile->I8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->I8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_I, newValue);
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}
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break;
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case ADJUSTMENT_PITCH_ROLL_D:
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case ADJUSTMENT_PITCH_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f);
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pidProfile->D_f[PIDPITCH] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->D_f[PIDPITCH] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDPITCH] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_PITCH_D, newFloatValue);
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} else {
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newValue = (int)pidProfile->D8[PIDPITCH] + delta;
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pidProfile->D8[PIDPITCH] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->D8[PIDPITCH] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDPITCH] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_PITCH_D, newValue);
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}
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if (adjustmentFunction == ADJUSTMENT_PITCH_D) {
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break;
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@ -532,38 +572,46 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
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// follow though for combined ADJUSTMENT_PITCH_ROLL_D
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case ADJUSTMENT_ROLL_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f);
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pidProfile->D_f[PIDROLL] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->D_f[PIDROLL] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDROLL] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_ROLL_D, newFloatValue);
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} else {
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newValue = (int)pidProfile->D8[PIDROLL] + delta;
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pidProfile->D8[PIDROLL] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->D8[PIDROLL] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDROLL] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_ROLL_D, newValue);
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}
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break;
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case ADJUSTMENT_YAW_P:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f);
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pidProfile->P_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->P_f[PIDYAW] + (float)(delta / 10.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_P, newFloatValue);
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} else {
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newValue = (int)pidProfile->P8[PIDYAW] + delta;
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pidProfile->P8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->P8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->P8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_P, newValue);
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}
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break;
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case ADJUSTMENT_YAW_I:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f);
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pidProfile->I_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->I_f[PIDYAW] + (float)(delta / 100.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_I, newFloatValue);
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} else {
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newValue = (int)pidProfile->I8[PIDYAW] + delta;
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pidProfile->I8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->I8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->I8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_I, newValue);
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}
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break;
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case ADJUSTMENT_YAW_D:
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if (IS_PID_CONTROLLER_FP_BASED(pidProfile->pidController)) {
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newFloatValue = pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f);
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pidProfile->D_f[PIDYAW] = constrainf(newFloatValue, 0, 100); // FIXME magic numbers repeated in serial_cli.c
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newFloatValue = constrainf(pidProfile->D_f[PIDYAW] + (float)(delta / 1000.0f), 0, 100); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D_f[PIDYAW] = newFloatValue;
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blackboxLogInflightAdjustmentEventFloat(ADJUSTMENT_YAW_D, newFloatValue);
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} else {
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newValue = (int)pidProfile->D8[PIDYAW] + delta;
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pidProfile->D8[PIDYAW] = constrain(newValue, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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newValue = constrain((int)pidProfile->D8[PIDYAW] + delta, 0, 200); // FIXME magic numbers repeated in serial_cli.c
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pidProfile->D8[PIDYAW] = newValue;
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_YAW_D, newValue);
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}
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break;
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default:
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@ -581,6 +629,7 @@ void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
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case ADJUSTMENT_RATE_PROFILE:
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if (getCurrentControlRateProfile() != position) {
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changeControlRateProfile(position);
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blackboxLogInflightAdjustmentEvent(ADJUSTMENT_RATE_PROFILE, position);
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applied = true;
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}
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break;
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