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This commit is contained in:
Nicholas Sherlock 2014-12-18 18:42:22 +13:00
parent c85a172370
commit 0ed47d5e6d
4 changed files with 1027 additions and 1027 deletions
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1964
src/main/blackbox/blackbox.c
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File diff suppressed because it is too large Load diff

74
src/main/blackbox/blackbox.h
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@ -1,37 +1,37 @@
/* /*
* This file is part of Cleanflight. * This file is part of Cleanflight.
* *
* Cleanflight is free software: you can redistribute it and/or modify * Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or * the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* Cleanflight is distributed in the hope that it will be useful, * Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#pragma once #pragma once
#include <stdint.h> #include <stdint.h>
typedef struct blackboxValues_t { typedef struct blackboxValues_t {
uint32_t time; uint32_t time;
int32_t axisP[3], axisI[3], axisD[3]; int32_t axisP[3], axisI[3], axisD[3];
int16_t rcCommand[4]; int16_t rcCommand[4];
int16_t gyroData[3]; int16_t gyroData[3];
int16_t accSmooth[3]; int16_t accSmooth[3];
int16_t motor[MAX_SUPPORTED_MOTORS]; int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS]; int16_t servo[MAX_SUPPORTED_SERVOS];
} blackboxValues_t; } blackboxValues_t;
void initBlackbox(void); void initBlackbox(void);
void handleBlackbox(void); void handleBlackbox(void);
void startBlackbox(void); void startBlackbox(void);
void finishBlackbox(void); void finishBlackbox(void);

6
src/main/flight/flight.c
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@ -339,9 +339,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
axisPID[axis] = PTerm + ITerm + DTerm; axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef BLACKBOX #ifdef BLACKBOX
axisP[axis] = PTerm; axisP[axis] = PTerm;
axisI[axis] = ITerm; axisI[axis] = ITerm;
axisD[axis] = DTerm; axisD[axis] = DTerm;
#endif #endif
} }
} }

10
src/main/mw.c
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@ -307,7 +307,7 @@ void mwDisarm(void)
#ifdef BLACKBOX #ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) { if (feature(FEATURE_BLACKBOX)) {
finishBlackbox(); finishBlackbox();
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) { if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig); mspAllocateSerialPorts(&masterConfig.serialConfig);
} }
@ -341,7 +341,7 @@ void mwArm(void)
if (sharedBlackboxAndMspPort) { if (sharedBlackboxAndMspPort) {
mspReleasePortIfAllocated(sharedBlackboxAndMspPort); mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
} }
startBlackbox(); startBlackbox();
} }
#endif #endif
return; return;
@ -700,9 +700,9 @@ void loop(void)
writeMotors(); writeMotors();
#ifdef BLACKBOX #ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) { if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox(); handleBlackbox();
} }
#endif #endif
} }