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

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