Some fixes for persistent stats.

src/main/fc/core.c

@@ -984,11 +984,6 @@ bool processRx(timeUs_t currentTimeUs)
 
     pidSetAntiGravityState(IS_RC_MODE_ACTIVE(BOXANTIGRAVITY) || featureIsEnabled(FEATURE_ANTI_GRAVITY));
 
-#ifdef USE_PERSISTENT_STATS
-    /* allow the stats collector to do periodic tasks */
-    statsOnLoop();
-#endif
-
     return true;
 }
 

src/main/fc/rc_adjustments.c

@@ -270,7 +270,6 @@ static int adjustmentRangeValue = -1;
 
 static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta)
 {
-
     beeperConfirmationBeeps(delta > 0 ? 2 : 1);
     int newValue;
     switch (adjustmentFunction) {
@@ -427,7 +426,6 @@ static int applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t a
         break;
     };
 
-    setConfigDirty();
     return newValue;
 }
 
@@ -435,10 +433,6 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
 {
     int newValue;
 
-    if (!controlRateConfig || !currentPidProfile) {
-        return 0;
-    }
-
     switch (adjustmentFunction) {
     case ADJUSTMENT_RC_RATE:
     case ADJUSTMENT_ROLL_RC_RATE:
@@ -593,7 +587,6 @@ static int applyAbsoluteAdjustment(controlRateConfig_t *controlRateConfig, adjus
         break;
     };
 
-    setConfigDirty();
     return newValue;
 }
 
@@ -653,7 +646,6 @@ static uint8_t applySelectAdjustment(adjustmentFunction_e adjustmentFunction, ui
         beeperConfirmationBeeps(beeps);
     }
 
-    setConfigDirty();
     return position;
 }
 
@@ -757,6 +749,9 @@ static void processStepwiseAdjustments(controlRateConfig_t *controlRateConfig, c
             }
 
             int newValue = applyStepAdjustment(controlRateConfig, adjustmentFunction, delta);
+
+            setConfigDirty();
+
             pidInitConfig(currentPidProfile);
 
             adjustmentState->ready = false;
@@ -770,6 +765,14 @@ static void processStepwiseAdjustments(controlRateConfig_t *controlRateConfig, c
     }
 }
 
+static void setConfigDirtyIfNotPermanent(const channelRange_t *range)
+{
+    if (range->startStep == MIN_MODE_RANGE_STEP && range->endStep == MAX_MODE_RANGE_STEP) {
+        // Only set the configuration dirty if this range is NOT permanently enabled (and the config thus never used).
+        setConfigDirty();
+    }
+}
+
 static void processContinuosAdjustments(controlRateConfig_t *controlRateConfig)
 {
     for (int i = 0; i < continuosAdjustmentCount; i++) {
@@ -797,6 +800,8 @@ static void processContinuosAdjustments(controlRateConfig_t *controlRateConfig)
             const uint16_t rangeWidth = (2100 - 900) / switchPositions;
             const uint8_t position = (constrain(rcData[channelIndex], 900, 2100 - 1) - 900) / rangeWidth;
             newValue = applySelectAdjustment(adjustmentFunction, position);
+
+            setConfigDirtyIfNotPermanent(&adjustmentRange->range);
         } else {
             // If setting is defined for step adjustment and center value has been specified, apply values directly (scaled) from aux channel
             if (adjustmentRange->adjustmentCenter &&
@@ -804,6 +809,9 @@ static void processContinuosAdjustments(controlRateConfig_t *controlRateConfig)
                 int value = (((rcData[channelIndex] - PWM_RANGE_MIDDLE) * adjustmentRange->adjustmentScale) / (PWM_RANGE_MIDDLE - PWM_RANGE_MIN)) + adjustmentRange->adjustmentCenter;
 
                 newValue = applyAbsoluteAdjustment(controlRateConfig, adjustmentFunction, value);
+
+                setConfigDirtyIfNotPermanent(&adjustmentRange->range);
+
                 pidInitConfig(currentPidProfile);
             }
         }

src/main/fc/stats.c

@@ -1,3 +1,22 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
 
 #include "platform.h"
 
@@ -6,6 +25,7 @@
 #include "drivers/time.h"
 
 #include "fc/config.h"
+#include "fc/dispatch.h"
 #include "fc/runtime_config.h"
 #include "fc/stats.h"
 
@@ -15,12 +35,13 @@
 #include "pg/stats.h"
 
 
-#define MIN_FLIGHT_TIME_TO_RECORD_STATS_S 10    //prevent recording stats for that short "flights" [s]
-#define STATS_SAVE_DELAY_MS              500    //let disarming complete and save stats after this time
+#define MIN_FLIGHT_TIME_TO_RECORD_STATS_S 10 // Prevent recording stats for that short "flights" [s]
+#define STATS_SAVE_DELAY_US 500000 // Let disarming complete and save stats after this time
 
 static timeMs_t arm_millis;
 static uint32_t arm_distance_cm;
-static timeMs_t save_pending_millis;  // 0 = none
+
+static bool saveRequired = false;
 
 #ifdef USE_GPS
     #define DISTANCE_FLOWN_CM (GPS_distanceFlownInCm)
@@ -28,6 +49,29 @@ static timeMs_t save_pending_millis;  // 0 = none
     #define DISTANCE_FLOWN_CM (0)
 #endif
 
+void writeStats(struct dispatchEntry_s* self)
+{
+    UNUSED(self);
+
+    if (!ARMING_FLAG(ARMED)) {
+        // Don't save if the user made config changes that have not yet been saved.
+        if (!isConfigDirty()) {
+            writeEEPROM();
+
+            // Repeat disarming beep indicating the stats save is complete
+            beeper(BEEPER_DISARMING);
+        }
+
+        saveRequired = false;
+    }
+}
+
+dispatchEntry_t writeStatsEntry =
+{
+    writeStats, 0, NULL, false
+};
+
+
 void statsOnArm(void)
 {
     arm_millis      = millis();
@@ -42,35 +86,16 @@ void statsOnDisarm(void)
             statsConfigMutable()->stats_total_flights += 1;    //arm/flight counter
             statsConfigMutable()->stats_total_time_s += dt;   //[s]
             statsConfigMutable()->stats_total_dist_m += (DISTANCE_FLOWN_CM - arm_distance_cm) / 100;   //[m]
+
+            saveRequired = true;
+        }
+
+        if (saveRequired) {
             /* signal that stats need to be saved but don't execute time consuming flash operation
                now - let the disarming process complete and then execute the actual save */
-            save_pending_millis = millis();
+            dispatchEnable();
+            dispatchAdd(&writeStatsEntry, STATS_SAVE_DELAY_US);
         }
     }
 }
-
-void statsOnLoop(void)
-{
-    /* check for pending flash write */
-    if (save_pending_millis && millis()-save_pending_millis > STATS_SAVE_DELAY_MS) {
-        if (ARMING_FLAG(ARMED)) {
-            /* re-armed - don't save! */
-        }
-        else {
-            if (isConfigDirty()) {
-                /* There are some adjustments made in the configuration and we don't want
-                   to implicitly save it... We can't currently save part of the configuration,
-                   so we simply don't execute the stats save operation at all. This will result
-                   in missing stats update *if* rc-adjustments were made during the flight. */
-            }
-            else {
-                writeEEPROM();
-                /* repeat disarming beep indicating the stats save is complete */
-                beeper(BEEPER_DISARMING);
-            }
-        }
-        save_pending_millis = 0;
-    }
-}
-
 #endif

src/main/fc/stats.h

@@ -1,4 +1,24 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
 
 void statsOnArm(void);
 void statsOnDisarm(void);
-void statsOnLoop(void);