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Merge branch 'blackbox-flash' of https://github.com/sherlockflight/cleanflight-dev into sherlockflight-blackbox-flash

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docs/Blackbox.md
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@ -5,7 +5,7 @@
## Introduction
This feature transmits your flight data information on every control loop iteration over a serial port to an external
logging device to be recorded.
logging device to be recorded, or to a dataflash chip which is present on some flight controllers.
After your flight, you can process the resulting logs on your computer to either turn them into CSV (comma-separated
values) or render your flight log as a video using the tools `blackbox_decode` and `blackbox_render`. Those tools can be
@ -21,20 +21,17 @@ https://github.com/cleanflight/blackbox-log-viewer
The blackbox records flight data on every iteration of the flight control loop. It records the current time in
microseconds, P, I and D corrections for each axis, your RC command stick positions (after applying expo curves),
gyroscope data, accelerometer data (after your configured low-pass filtering), barometer readings, 3-axis magnetometer
readings, raw VBAT measurements, and the command being sent to each motor speed controller. This is all stored without
any approximation or loss of precision, so even quite subtle problems should be detectable from the fight data log.
readings, raw VBAT and current measurements, and the command being sent to each motor speed controller. This is all
stored without any approximation or loss of precision, so even quite subtle problems should be detectable from the fight
data log.
Currently, the blackbox attempts to log GPS data whenever new GPS data is available, but this has not been tested yet.
The CSV decoder and video renderer do not yet show any of the GPS data (though this will be added). If you have a working
GPS, please send in your logs so I can get the decoding implemented.
The data rate for my quadcopter using a looptime of 2400 is about 10.25kB/s. This allows about 18 days of flight logs
to fit on a 16GB MicroSD card, which ought to be enough for anybody :).
GPS data is logged whenever new GPS data is available. Although the CSV decoder will decode this data, the video
renderer does not yet show any of the GPS information (this will be added later).
## Supported configurations
The maximum data rate for the flight log is fairly restricted, so anything that increases the load can cause the flight
log to drop frames and contain errors.
The maximum data rate that can be recorded to the flight log is fairly restricted, so anything that increases the load
can cause the flight log to drop frames and contain errors.
The Blackbox was developed and tested on a quadcopter. It has also been tested on a tricopter. It should work on
hexacopters or octocopters, but as they transmit more information to the flight log (due to having more motors), the
@ -49,10 +46,11 @@ details.
## Hardware
The blackbox software is designed to be used with an [OpenLog serial data logger][] and a microSDHC card. You need a
little prep to get the OpenLog ready for use, so here are the details:
There are two options for storing your flight logs. You can either transmit the log data over a serial port to an
external logging device like the [OpenLog serial data logger][] to be recorded to a microSDHC card, or if you have a
compatible flight controller you can store the logs on the onboard dataflash storage instead.
### Firmware
### OpenLog serial data logger
The OpenLog ships with standard OpenLog 3 firmware installed. However, in order to reduce the number of dropped frames,
it should be reflashed with the [OpenLog Light firmware][] or the special [OpenLog Blackbox firmware][] . The Blackbox
@ -66,18 +64,18 @@ along with instructions for installing it onto your OpenLog.
[OpenLog Light firmware]: https://github.com/sparkfun/OpenLog/tree/master/firmware/OpenLog_v3_Light
[OpenLog Blackbox firmware]: https://github.com/cleanflight/blackbox-firmware
### microSDHC
#### microSDHC
Your choice of microSDHC card is very important to the performance of the system. The OpenLog relies on being able to
make many small writes to the card with minimal delay, which not every card is good at. A faster SD-card speed rating is
not a guarantee of better performance.
#### microSDHC cards known to have poor performance
##### microSDHC cards known to have poor performance
- Generic 4GB Class 4 microSDHC card - the rate of missing frames is about 1%, and is concentrated around the most
interesting parts of the log!
#### microSDHC cards known to have good performance
##### microSDHC cards known to have good performance
- Transcend 16GB Class 10 UHS-I microSDHC (typical error rate < 0.1%)
- Sandisk Extreme 16GB Class 10 UHS-I microSDHC (typical error rate < 0.1%)
@ -87,7 +85,7 @@ the best chance of writing at high speed. You must format it with either FAT, or
[SD Association's special formatting tool]: https://www.sdcard.org/downloads/formatter_4/
### OpenLog configuration
#### OpenLog configuration
This section applies only if you are using the OpenLog or OpenLog Light original firmware on the OpenLog. If you flashed
it with the special OpenLog Blackbox firmware, you don't need to configure it further.
@ -105,42 +103,16 @@ of the MicroSD card:
baud,escape,esc#,mode,verb,echo,ignoreRX
```
## Enabling this feature (CLI)
#### Serial port
Enable the Blackbox feature by typing in `feature BLACKBOX` and pressing enter. You also need to assign the Blackbox to
one of [your serial ports][] . A 115200 baud port is required (such as serial_port_1 on the Naze32, the two-pin Tx/Rx
header in the center of the board).
For example, use `set serial_port_1_scenario=11` to switch the main serial port to MSP, CLI, Blackbox and GPS Passthrough.
Enter `save`. Your configuration should be saved and the flight controller will reboot. You're ready to go!
[your serial ports]: https://github.com/cleanflight/cleanflight/blob/master/docs/Serial.md
[Cleanflight Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
## Configuring this feature
The Blackbox currently provides two settings (`blackbox_rate_num` and `blackbox_rate_denom`) that allow you to control
the rate at which data is logged. These two together form a fraction (`blackbox_rate_num / blackbox_rate_denom`) which
decides what portion of the flight controller's control loop iterations should be logged. The default is 1/1 which logs
every iteration.
If you are using a short looptime like 2000 or faster, or you're using a slower MicroSD card, you will need to reduce
this rate to reduce the number of corrupted logged frames. A rate of 1/2 is likely to work for most craft.
You can change these settings by entering the CLI tab in the Cleanflight Configurator and using the `set` command, like so:
```
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
```
### Serial port
A 115200 baud serial port is required to connect the OpenLog to your flight controller (such as `serial_port_1` on the
Naze32, the two-pin Tx/Rx header in the center of the board). The Blackbox can not be used with softserial ports as they
are too slow.
Connect the "TX" pin of the serial port you've chosen to the OpenLog's "RXI" pin. Don't connect the serial port's RX
pin to the OpenLog.
### Protection
#### Protection
The OpenLog can be wrapped in black electrical tape or heat-shrink in order to insulate it from conductive frames (like
carbon fiber), but this makes its status LEDs impossible to see. I recommend wrapping it with some clear heatshrink
@ -148,30 +120,93 @@ tubing instead.
![OpenLog installed](Wiring/blackbox-installation-1.jpg "OpenLog installed with double-sided tape, SDCard slot pointing outward")
### Onboard dataflash storage
The full version of the Naze32 has an onboard "m25p16" 2 megayte dataflash storage chip which can be used to store
flight logs instead of using an OpenLog. This is the small chip at the base of the Naze32's direction arrow.
This chip is not present on the "Acro" version of the Naze32.
## Enabling the Blackbox (CLI)
In the [Cleanflight Configurator][] , enter the CLI tab. Enable the Blackbox feature by typing in `feature BLACKBOX` and
pressing enter. Now choose the device that you want to log to:
### OpenLog serial data logger
Enter `set blackbox_device=0` to switch to logging to a serial port (this is the default).
You then need to let Cleanflight know which of [your serial ports][] you connected the OpenLog to. A 115200 baud port
is required (such as `serial_port_1` on the Naze32, the two-pin Tx/Rx header in the center of the board).
For example, use `set serial_port_1_scenario=11` to switch the main serial port to MSP, CLI, Blackbox and GPS
Passthrough. You can also use the GUI to configure a port for the Blackbox feature on the Ports tab.
### Onboard dataflash
Enter `set blackbox_device=1` to switch to logging to an onboard dataflash chip, if your flight controller has one.
[your serial ports]: https://github.com/cleanflight/cleanflight/blob/master/docs/Serial.md
[Cleanflight Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
## Configuring the Blackbox
The Blackbox currently provides two settings (`blackbox_rate_num` and `blackbox_rate_denom`) that allow you to control
the rate at which data is logged. These two together form a fraction (`blackbox_rate_num / blackbox_rate_denom`) which
decides what portion of the flight controller's control loop iterations should be logged. The default is 1/1 which logs
every iteration.
If you are using a short looptime like 2000 or faster, or you're using a slower MicroSD card, you will need to reduce
this rate to reduce the number of corrupted logged frames that `blackbox_decode` complains about. A rate of 1/2 is likely
to work for most craft.
You can change these settings by entering the CLI tab in the [Cleanflight Configurator][] and using the `set` command, like so:
```
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
```
The data rate for my quadcopter using a looptime of 2400 and a rate of 1/1 is about 10.25kB/s. This allows about 18
days of flight logs to fit on my OpenLog's 16GB MicroSD card, which ought to be enough for anybody :).
If you're logging to an onboard dataflash chip instead of an OpenLog, be aware that the 2MB of storage space it offers
is pretty small. At the default 1/1 logging rate, and a 2400 looptime, this is only enough for about 3 minutes of
flight. This could be long enough for you to investigate some flying problem with your craft, but you may want to reduce
the logging rate in order to extend your recording time.
To maximize your recording time, you could drop the rate way down to 1/32 (the smallest possible rate) which would
result in a logging rate of about 10-20Hz and about 650 bytes/second of data. At that logging rate, the 2MB flash chip
can store around 50 minutes of flight data, though the level of detail is severely reduced and you could not diagnose
flight problems like vibration or PID setting issues.
## Usage
The Blackbox starts recording data as soon as you arm your craft, and stops when you disarm. Each time the OpenLog is
power-cycled, it begins a fresh new log file. If you arm and disarm several times without cycling the power (recording
several flights), those logs will be combined together into one file. The command line tools will ask you to pick which
one of these flights you want to display/decode.
The Blackbox starts recording data as soon as you arm your craft, and stops when you disarm.
If your craft has a buzzer attached, a short beep will be played when you arm. You can later use this beep to
synchronize your recorded flight video with the rendered flight data log (the beep is shown as a blue line in the flight
data log, which you can sync against the beep in your recorded audio track).
If your craft has a buzzer attached, a short beep will be played when you arm and recording begins. You can later use
this beep to synchronize your recorded flight video with the rendered flight data log (the beep is shown as a blue line
in the flight data log, which you can sync against the beep in your recorded audio track).
The OpenLog requires a couple of seconds of delay after connecting the battery before it's ready to record, so don't
arm your craft immediately after connecting the battery (you'll probably be waiting for the flight controller to become
ready during that time anyway!)
You should wait a few seconds after disarming your craft to allow the Blackbox to finish saving its data.
You should also wait a few seconds after disarming the quad to allow the OpenLog to finish saving its data.
### Usage - OpenLog
Each time the OpenLog is power-cycled, it begins a fresh new log file. If you arm and disarm several times without
cycling the power (recording several flights), those logs will be combined together into one file. The command line
tools will ask you to pick which one of these flights you want to display/decode.
Don't insert or remove the SD card while the OpenLog is powered up.
### Usage - Dataflash chip
After your flights, you can use the [Cleanflight Configurator][] to download the contents of the dataflash to your
computer. Go to the "dataflash" tab and click the "save flash to file..." button. Saving the log can take 2 or 3
minutes.
![Dataflash tab in Configurator](Screenshots/blackbox-dataflash.png)
After downloading the log, be sure to erase the chip to make it ready for reuse by clicking the "erase flash" button.
If you try to start recording a new flight when the dataflash is already full, the Blackbox will not make its regular
arming beep and nothing will be recorded.
## Converting logs to CSV or PNG
After your flights, you'll have a series of files labeled "LOG00001.TXT" etc. on the microSD card. You'll need to
decode these with the `blackbox_decode` tool to create a CSV (comma-separated values) file for analysis, or render them
into a series of PNG frames with `blackbox_render` tool, which you could then convert into a video using another
software package.
After your flights, you'll have a series of flight log files with a .TXT extension. You'll need to decode these with
the `blackbox_decode` tool to create CSV (comma-separated values) files for analysis, or render them into a series of PNG
frames with `blackbox_render` tool, which you could then convert into a video using another software package.
You'll find those tools along with instructions for using them in this repository:

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