From 8f993a87a47a15d5d1accc06a49b5b13ca94602e Mon Sep 17 00:00:00 2001 From: Gary Keeble Date: Fri, 3 Jun 2016 15:18:54 +0100 Subject: [PATCH 1/3] Add rcYawRate into Blackbox header and Calculate Rate Function Add the new Yaw Rate parameter into the log header --- src/main/blackbox/blackbox.c | 77 +++++++++++++++++++----------------- src/main/flight/pid.c | 2 +- 2 files changed, 41 insertions(+), 38 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index ebda24dca2..40fa2e2306 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1181,156 +1181,159 @@ static bool blackboxWriteSysinfo() blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8); break; case 14: - blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); + blackboxPrintfHeaderLine("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8); break; case 15: - blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8); + blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); break; case 16: - blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8); + blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8); break; case 17: - blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID); + blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8); break; case 18: - blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint); + blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID); break; case 19: + blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint); + break; + case 20: blackboxPrintfHeaderLine("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]); break; - case 20: + case 21: blackboxPrintfHeaderLine("looptime:%d", targetLooptime); break; - case 21: + case 22: blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController); break; - case 22: + case 23: blackboxPrintfHeaderLine("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]); break; - case 23: + case 24: blackboxPrintfHeaderLine("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]); break; - case 24: + case 25: blackboxPrintfHeaderLine("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]); break; - case 25: + case 26: blackboxPrintfHeaderLine("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]); break; - case 26: + case 27: blackboxPrintfHeaderLine("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]); break; - case 27: + case 28: blackboxPrintfHeaderLine("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]); break; - case 28: + case 29: blackboxPrintfHeaderLine("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]); break; - case 29: + case 30: blackboxPrintfHeaderLine("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]); break; - case 30: + case 31: blackboxPrintfHeaderLine("magPID:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]); break; - case 31: + case 32: blackboxPrintfHeaderLine("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]); break; - case 32: + case 33: blackboxPrintfHeaderLine("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit); break; - case 33: + case 34: blackboxPrintfHeaderLine("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f)); break; - case 34: + case 35: blackboxPrintfHeaderLine("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count); break; - case 35: + case 36: blackboxPrintfHeaderLine("dynamic_pid:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid); break; - case 36: + case 37: blackboxPrintfHeaderLine("rollPitchItermResetRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate); break; - case 37: + case 38: blackboxPrintfHeaderLine("yawItermResetRate:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate); break; - case 38: + case 39: blackboxPrintfHeaderLine("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f)); break; - case 39: + case 40: blackboxPrintfHeaderLine("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold); break; - case 40: + case 41: blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband); break; - case 41: + case 42: blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband); break; - case 42: + case 43: blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf); break; - case 43: + case 44: blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f)); break; - case 44: + case 45: blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f)); break; - case 45: + case 46: blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware); break; - case 46: + case 47: blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware); break; - case 47: + case 48: blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware); break; - case 48: + case 49: blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm); break; - case 49: + case 50: blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation); break; - case 50: + case 51: blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing); break; - case 51: + case 52: blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures); break; default: diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c index f9f2a22317..b9d706dd7d 100644 --- a/src/main/flight/pid.c +++ b/src/main/flight/pid.c @@ -79,7 +79,7 @@ float calculateRate(int axis, const controlRateConfig_t *controlRateConfig) { float angleRate; if (isSuperExpoActive()) { - float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / 500.0f) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f))); + float rcFactor = (axis == YAW) ? (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcYawRate8 / 100.0f))) : (ABS(rcCommand[axis]) / (500.0f * (controlRateConfig->rcRate8 / 100.0f))); rcFactor = 1.0f / (constrainf(1.0f - (rcFactor * (controlRateConfig->rates[axis] / 100.0f)), 0.01f, 1.00f)); angleRate = rcFactor * ((27 * rcCommand[axis]) / 16.0f); From 3788716c0a90f1e0033864f2594d95b1e4631478 Mon Sep 17 00:00:00 2001 From: mikeller Date: Tue, 7 Jun 2016 11:39:37 +1200 Subject: [PATCH 2/3] Fixed rateprofile dump / restore --- src/main/io/serial_cli.c | 15 +++++++++------ 1 file changed, 9 insertions(+), 6 deletions(-) diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index d077b96148..4cad900d68 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -2051,24 +2051,27 @@ static void cliDump(char *cmdline) if (dumpMask & DUMP_ALL) { uint8_t activeProfile = masterConfig.current_profile_index; - uint8_t currentRateIndex = currentProfile->activeRateProfile; uint8_t profileCount; - uint8_t rateCount; for (profileCount=0; profileCountactiveRateProfile; + uint8_t rateCount; for (rateCount=0; rateCount Date: Mon, 6 Jun 2016 18:22:52 +0100 Subject: [PATCH 3/3] Blackbox Coding Simplification Simplified header record writing using macros to outnumber the case statements --- src/main/blackbox/blackbox.c | 288 +++++++++++------------------------ 1 file changed, 91 insertions(+), 197 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 40fa2e2306..80df3ba141 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1118,6 +1118,15 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v return xmitState.headerIndex < headerCount; } +#ifndef BLACKBOX_PRINT_HEADER_LINE +#define BLACKBOX_PRINT_HEADER_LINE(x, ...) case __COUNTER__: \ + blackboxPrintfHeaderLine(x, __VA_ARGS__); \ + break; +#define BLACKBOX_PRINT_HEADER_LINE_CUSTOM(...) case __COUNTER__: \ + {__VA_ARGS__}; \ + break; +#endif + /** * Transmit a portion of the system information headers. Call the first time with xmitState.headerIndex == 0. Returns * true iff transmission is complete, otherwise call again later to continue transmission. @@ -1130,212 +1139,97 @@ static bool blackboxWriteSysinfo() } switch (xmitState.headerIndex) { - case 0: - blackboxPrintfHeaderLine("Firmware type:Cleanflight"); - break; - case 1: - blackboxPrintfHeaderLine("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName); - break; - case 2: - blackboxPrintfHeaderLine("Firmware date:%s %s", buildDate, buildTime); - break; - case 3: - blackboxPrintfHeaderLine("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); - break; - case 4: - blackboxPrintfHeaderLine("rcRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcRate8); - break; - case 5: - blackboxPrintfHeaderLine("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle); - break; - case 6: - blackboxPrintfHeaderLine("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle); - break; - case 7: - blackboxPrintfHeaderLine("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale)); - break; - case 8: - blackboxPrintfHeaderLine("acc_1G:%u", acc_1G); - break; - case 9: + BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight"); + BLACKBOX_PRINT_HEADER_LINE("Firmware revision:Betaflight %s (%s) %s", FC_VERSION_STRING, shortGitRevision, targetName); + BLACKBOX_PRINT_HEADER_LINE("Firmware date:%s %s", buildDate, buildTime); + BLACKBOX_PRINT_HEADER_LINE("P interval:%d/%d", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom); + BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", masterConfig.escAndServoConfig.minthrottle); + BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", masterConfig.escAndServoConfig.maxthrottle); + BLACKBOX_PRINT_HEADER_LINE("gyro.scale:0x%x", castFloatBytesToInt(gyro.scale)); + BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc_1G); + + BLACKBOX_PRINT_HEADER_LINE_CUSTOM( if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) { blackboxPrintfHeaderLine("vbatscale:%u", masterConfig.batteryConfig.vbatscale); } else { xmitState.headerIndex += 2; // Skip the next two vbat fields too } - break; - case 10: - blackboxPrintfHeaderLine("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage, - masterConfig.batteryConfig.vbatwarningcellvoltage, masterConfig.batteryConfig.vbatmaxcellvoltage); - break; - case 11: - blackboxPrintfHeaderLine("vbatref:%u", vbatReference); - break; - case 12: + ); + + BLACKBOX_PRINT_HEADER_LINE("vbatcellvoltage:%u,%u,%u", masterConfig.batteryConfig.vbatmincellvoltage, + masterConfig.batteryConfig.vbatwarningcellvoltage, + masterConfig.batteryConfig.vbatmaxcellvoltage); + BLACKBOX_PRINT_HEADER_LINE("vbatref:%u", vbatReference); + + BLACKBOX_PRINT_HEADER_LINE_CUSTOM( //Note: Log even if this is a virtual current meter, since the virtual meter uses these parameters too: if (feature(FEATURE_CURRENT_METER)) { blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale); } - break; - case 13: - blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8); - break; - case 14: - blackboxPrintfHeaderLine("rcYawRate:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawRate8); - break; - case 15: - blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); - break; - case 16: - blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8); - break; - case 17: - blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8); - break; - case 18: - blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID); - break; - case 19: - blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint); - break; - case 20: - blackboxPrintfHeaderLine("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]); - break; - case 21: - blackboxPrintfHeaderLine("looptime:%d", targetLooptime); - break; - case 22: - blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController); - break; - case 23: - blackboxPrintfHeaderLine("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]); - break; - case 24: - blackboxPrintfHeaderLine("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]); - break; - case 25: - blackboxPrintfHeaderLine("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]); - break; - case 26: - blackboxPrintfHeaderLine("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]); - break; - case 27: - blackboxPrintfHeaderLine("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]); - break; - case 28: - blackboxPrintfHeaderLine("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]); - break; - case 29: - blackboxPrintfHeaderLine("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]); - break; - case 30: - blackboxPrintfHeaderLine("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]); - break; - case 31: - blackboxPrintfHeaderLine("magPID:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]); - break; - case 32: - blackboxPrintfHeaderLine("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]); - break; - case 33: - blackboxPrintfHeaderLine("yaw_p_limit:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit); - break; - case 34: - blackboxPrintfHeaderLine("yaw_lpf_hz:%d", - (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f)); - break; - case 35: - blackboxPrintfHeaderLine("dterm_average_count:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count); - break; - case 36: - blackboxPrintfHeaderLine("dynamic_pid:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid); - break; - case 37: - blackboxPrintfHeaderLine("rollPitchItermResetRate:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermIgnoreRate); - break; - case 38: - blackboxPrintfHeaderLine("yawItermResetRate:%d", - masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermIgnoreRate); - break; - case 39: - blackboxPrintfHeaderLine("dterm_lpf_hz:%d", - (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f)); - break; - case 40: - blackboxPrintfHeaderLine("airmode_activate_throttle:%d", - masterConfig.rxConfig.airModeActivateThreshold); - break; - case 41: - blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband); - break; - case 42: - blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband); - break; - case 43: - blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf); - break; - case 44: - blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f)); - break; - case 45: - blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f)); - break; - case 46: - blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware); - break; - case 47: - blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware); - break; - case 48: - blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware); - break; - case 49: - blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm); - break; - case 50: - blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation); - break; - case 51: - blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing); - break; - case 52: - blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures); - break; + ); + + BLACKBOX_PRINT_HEADER_LINE("looptime:%d", targetLooptime); + 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("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController); + 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("yaw_p_limit:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit); + BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("dterm_average_count:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count); + BLACKBOX_PRINT_HEADER_LINE("dynamic_pid:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_pid); + 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("dterm_lpf_hz:%d", (int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("deadband:%d", masterConfig.rcControlsConfig.deadband); + BLACKBOX_PRINT_HEADER_LINE("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband); + BLACKBOX_PRINT_HEADER_LINE("gyro_lpf:%d", masterConfig.gyro_lpf); + BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("acc_hardware:%d", masterConfig.acc_hardware); + BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware); + BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.mag_hardware); + BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm); + BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation); + BLACKBOX_PRINT_HEADER_LINE("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing); + BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold); + BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures); + default: return true; }