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Blackbox: Enable logging when mode switch is active

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This commit is contained in:
Alexander Fedorov 2015-07-13 16:14:14 +02:00 • committed by Nicholas Sherlock
parent 7af3d57606
commit 01632998a3
5 changed files with 46 additions and 25 deletions
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33
src/main/blackbox/blackbox.c
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@ -349,6 +349,8 @@ static blackboxMainState_t blackboxHistoryRing[3];
// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
static blackboxMainState_t* blackboxHistory[3];
static bool blackboxModeActivationConditionPresent = false;
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
{
switch (condition) {
@ -771,6 +773,7 @@ static void validateBlackboxConfig()
*/
void startBlackbox(void)
{
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(currentProfile->modeActivationConditions, BOXBLACKBOX);
if (blackboxState == BLACKBOX_STATE_STOPPED) {
validateBlackboxConfig();
@ -1176,7 +1179,7 @@ static bool blackboxShouldLogPFrame(uint32_t pFrameIndex)
}
// Called once every FC loop in order to log the current state
static void blackboxLogIteration()
static void blackboxLogIteration(bool writeFrames)
{
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
if (blackboxPFrameIndex == 0) {
@ -1184,25 +1187,25 @@ static void blackboxLogIteration()
* Don't log a slow frame if the slow data didn't change ("I" frames are already large enough without adding
* an additional item to write at the same time)
*/
writeSlowFrameIfNeeded(false);
loadMainState();
writeIntraframe();
if (writeFrames) {
writeSlowFrameIfNeeded(false);
loadMainState();
writeIntraframe();
}
} else {
blackboxCheckAndLogArmingBeep();
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
/*
if (blackboxShouldLogPFrame(blackboxPFrameIndex) && writeFrames) {
/*
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
* So only log slow frames during loop iterations where we log a main frame.
*/
writeSlowFrameIfNeeded(true);
loadMainState();
writeInterframe();
}
#ifdef GPS
if (feature(FEATURE_GPS)) {
if (feature(FEATURE_GPS) && writeFrames) {
/*
* If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
* GPS home position.
@ -1307,8 +1310,16 @@ void handleBlackbox(void)
break;
case BLACKBOX_STATE_RUNNING:
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
blackboxLogIteration();
if (blackboxModeActivationConditionPresent) {
if (IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
blackboxLogIteration(true);
} else {
// Log only first I frame
blackboxLogIteration(blackboxIteration == 0);
}
} else {
blackboxLogIteration(true);
}
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
//On entry of this state, startTime is set and a flush is performed