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Exclude GPS features from blackbox for targets without GPS.

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This commit is contained in:
Dominic Clifton 2015-01-08 04:42:40 +00:00
parent 801548bedb
commit 1ef76f2f3f
1 changed files with 12 additions and 1 deletions
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13
src/main/blackbox/blackbox.c
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@ -111,6 +111,7 @@ static const char* const blackboxMainHeaderNames[] = {
"P encoding"
};
#ifdef GPS
static const char* const blackboxGPSGHeaderNames[] = {
"G name",
"G signed",
@ -124,6 +125,7 @@ static const char* const blackboxGPSHHeaderNames[] = {
"H predictor",
"H encoding"
};
#endif
/* All field definition structs should look like this (but with longer arrs): */
typedef struct blackboxFieldDefinition_t {
@ -206,6 +208,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
{"servo[5]", UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
};
#ifdef GPS
// GPS position/vel frame
static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
{"GPS_numSat", UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
@ -220,6 +223,7 @@ static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
{"GPS_home[0]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"GPS_home[1]", SIGNED, PREDICT(0), ENCODING(SIGNED_VB)}
};
#endif
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
@ -897,6 +901,7 @@ void finishBlackbox(void)
}
}
#ifdef GPS
static void writeGPSHomeFrame()
{
blackboxWrite('H');
@ -923,6 +928,7 @@ static void writeGPSFrame()
gpsHistory.GPS_coord[0] = GPS_coord[0];
gpsHistory.GPS_coord[1] = GPS_coord[1];
}
#endif
/**
* Fill the current state of the blackbox using values read from the flight controller
@ -1163,12 +1169,15 @@ void handleBlackbox(void)
//On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, blackboxMainFields + 1,
ARRAY_LENGTH(blackboxMainFields), &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
#ifdef GPS
if (feature(FEATURE_GPS))
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADERS);
else
#endif
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
}
break;
#ifdef GPS
case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
//On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, blackboxGpsHFields + 1,
@ -1183,6 +1192,7 @@ void handleBlackbox(void)
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
}
break;
#endif
case BLACKBOX_STATE_SEND_SYSINFO:
//On entry of this state, headerXmitIndex is 0
result = blackboxWriteSysinfo(headerXmitIndex);
@ -1210,7 +1220,7 @@ void handleBlackbox(void)
loadBlackboxState();
writeInterframe();
}
#ifdef GPS
if (feature(FEATURE_GPS)) {
/*
* If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
@ -1230,6 +1240,7 @@ void handleBlackbox(void)
writeGPSFrame();
}
}
#endif
}
blackboxIteration++;