diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index 66144c16bd..a0ffa437d7 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -1234,13 +1234,13 @@ static bool blackboxWriteSysinfo() BLACKBOX_PRINT_HEADER_LINE("looptime", "%d", gyro.targetLooptime); BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom", "%d", gyroConfig()->gyro_sync_denom); BLACKBOX_PRINT_HEADER_LINE("pid_process_denom", "%d", pidConfig()->pid_process_denom); - BLACKBOX_PRINT_HEADER_LINE("rcRate", "%d", currentControlRateProfile->rcRate8); - BLACKBOX_PRINT_HEADER_LINE("rcExpo", "%d", currentControlRateProfile->rcExpo8); - BLACKBOX_PRINT_HEADER_LINE("rcYawRate", "%d", currentControlRateProfile->rcYawRate8); - BLACKBOX_PRINT_HEADER_LINE("rcYawExpo", "%d", currentControlRateProfile->rcYawExpo8); - BLACKBOX_PRINT_HEADER_LINE("thrMid", "%d", currentControlRateProfile->thrMid8); - BLACKBOX_PRINT_HEADER_LINE("thrExpo", "%d", currentControlRateProfile->thrExpo8); - BLACKBOX_PRINT_HEADER_LINE("dynThrPID", "%d", currentControlRateProfile->dynThrPID); + BLACKBOX_PRINT_HEADER_LINE("rc_rate", "%d", currentControlRateProfile->rcRate8); + BLACKBOX_PRINT_HEADER_LINE("rc_expo", "%d", currentControlRateProfile->rcExpo8); + BLACKBOX_PRINT_HEADER_LINE("rc_rate_yaw", "%d", currentControlRateProfile->rcYawRate8); + BLACKBOX_PRINT_HEADER_LINE("rc_yaw_expo", "%d", currentControlRateProfile->rcYawExpo8); + BLACKBOX_PRINT_HEADER_LINE("thr_mid", "%d", currentControlRateProfile->thrMid8); + BLACKBOX_PRINT_HEADER_LINE("thr_expo", "%d", currentControlRateProfile->thrExpo8); + BLACKBOX_PRINT_HEADER_LINE("tpa_rate", "%d", currentControlRateProfile->dynThrPID); BLACKBOX_PRINT_HEADER_LINE("tpa_breakpoint", "%d", currentControlRateProfile->tpa_breakpoint); BLACKBOX_PRINT_HEADER_LINE("rates", "%d,%d,%d", currentControlRateProfile->rates[ROLL], currentControlRateProfile->rates[PITCH], @@ -1277,45 +1277,44 @@ static bool blackboxWriteSysinfo() BLACKBOX_PRINT_HEADER_LINE("dterm_lpf_hz", "%d", currentPidProfile->dterm_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("yaw_lpf_hz", "%d", currentPidProfile->yaw_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("dterm_notch_hz", "%d", currentPidProfile->dterm_notch_hz); - BLACKBOX_PRINT_HEADER_LINE("dterm_notch_cutoff", "%d", currentPidProfile->dterm_notch_cutoff); - BLACKBOX_PRINT_HEADER_LINE("itermWindupPointPercent", "%d", currentPidProfile->itermWindupPointPercent); - BLACKBOX_PRINT_HEADER_LINE("dterm_average_count", "%d", currentPidProfile->dterm_average_count); - BLACKBOX_PRINT_HEADER_LINE("vbat_pid_compensation", "%d", currentPidProfile->vbatPidCompensation); + BLACKBOX_PRINT_HEADER_LINE("d_notch_cut", "%d", currentPidProfile->dterm_notch_cutoff); + BLACKBOX_PRINT_HEADER_LINE("iterm_windup", "%d", currentPidProfile->itermWindupPointPercent); + BLACKBOX_PRINT_HEADER_LINE("vbat_pid_gain", "%d", currentPidProfile->vbatPidCompensation); BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle", "%d", currentPidProfile->pidAtMinThrottle); // Betaflight PID controller parameters - BLACKBOX_PRINT_HEADER_LINE("anti_gravity_threshold", "%d", currentPidProfile->itermThrottleThreshold); + BLACKBOX_PRINT_HEADER_LINE("anti_gravity_thresh", "%d", currentPidProfile->itermThrottleThreshold); BLACKBOX_PRINT_HEADER_LINE("anti_gravity_gain", "%d", castFloatBytesToInt(currentPidProfile->itermAcceleratorGain)); - BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio", "%d", currentPidProfile->setpointRelaxRatio); - BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight", "%d", currentPidProfile->dtermSetpointWeight); - BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit", "%d", castFloatBytesToInt(currentPidProfile->yawRateAccelLimit)); - BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit", "%d", castFloatBytesToInt(currentPidProfile->rateAccelLimit)); - BLACKBOX_PRINT_HEADER_LINE("pidSumLimit", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimit)); - BLACKBOX_PRINT_HEADER_LINE("pidSumLimitYaw", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimitYaw)); + BLACKBOX_PRINT_HEADER_LINE("setpoint_relax_ratio", "%d", currentPidProfile->setpointRelaxRatio); + BLACKBOX_PRINT_HEADER_LINE("d_setpoint_weight", "%d", currentPidProfile->dtermSetpointWeight); + BLACKBOX_PRINT_HEADER_LINE("yaw_accel_limit", "%d", castFloatBytesToInt(currentPidProfile->yawRateAccelLimit)); + BLACKBOX_PRINT_HEADER_LINE("accel_limit", "%d", castFloatBytesToInt(currentPidProfile->rateAccelLimit)); + BLACKBOX_PRINT_HEADER_LINE("pidsum_limit", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimit)); + BLACKBOX_PRINT_HEADER_LINE("pidsum_limit_yaw", "%d", castFloatBytesToInt(currentPidProfile->pidSumLimitYaw)); // End of Betaflight controller parameters BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->deadband); BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->yaw_deadband); BLACKBOX_PRINT_HEADER_LINE("gyro_lpf", "%d", gyroConfig()->gyro_lpf); - BLACKBOX_PRINT_HEADER_LINE("gyro_soft_type", "%d", gyroConfig()->gyro_soft_lpf_type); - BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_hz", "%d", gyroConfig()->gyro_soft_lpf_hz); + BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass_type", "%d", gyroConfig()->gyro_soft_lpf_type); + BLACKBOX_PRINT_HEADER_LINE("gyro_lowpass", "%d", gyroConfig()->gyro_soft_lpf_hz); BLACKBOX_PRINT_HEADER_LINE("gyro_notch_hz", "%d,%d", gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_hz_2); BLACKBOX_PRINT_HEADER_LINE("gyro_notch_cutoff", "%d,%d", gyroConfig()->gyro_soft_notch_cutoff_1, gyroConfig()->gyro_soft_notch_cutoff_2); - BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("acc_lpf_hz", "%d", (int)(accelerometerConfig()->acc_lpf_hz * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("acc_hardware", "%d", accelerometerConfig()->acc_hardware); BLACKBOX_PRINT_HEADER_LINE("baro_hardware", "%d", barometerConfig()->baro_hardware); BLACKBOX_PRINT_HEADER_LINE("mag_hardware", "%d", compassConfig()->mag_hardware); BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm", "%d", armingConfig()->gyro_cal_on_first_arm); - BLACKBOX_PRINT_HEADER_LINE("rc_interpolation", "%d", rxConfig()->rcInterpolation); - BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval", "%d", rxConfig()->rcInterpolationInterval); + BLACKBOX_PRINT_HEADER_LINE("rc_interp", "%d", rxConfig()->rcInterpolation); + BLACKBOX_PRINT_HEADER_LINE("rc_interp_int", "%d", rxConfig()->rcInterpolationInterval); BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle", "%d", rxConfig()->airModeActivateThreshold); BLACKBOX_PRINT_HEADER_LINE("serialrx_provider", "%d", rxConfig()->serialrx_provider); - BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm", "%d", motorConfig()->dev.useUnsyncedPwm); - BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol); + BLACKBOX_PRINT_HEADER_LINE("use_unsynced_pwm", "%d", motorConfig()->dev.useUnsyncedPwm); + BLACKBOX_PRINT_HEADER_LINE("motor_pwm_protocol", "%d", motorConfig()->dev.motorPwmProtocol); BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate", "%d", motorConfig()->dev.motorPwmRate); - BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset", "%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f)); + BLACKBOX_PRINT_HEADER_LINE("digital_idle_percent", "%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f)); BLACKBOX_PRINT_HEADER_LINE("debug_mode", "%d", systemConfig()->debug_mode); BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);