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Added blackbox debug field condition

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This commit is contained in:
Martin Budden 2017-04-24 09:09:28 +01:00
parent 280fc1dca1
commit 33c377f5d7
2 changed files with 16 additions and 7 deletions
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21
src/main/blackbox/blackbox.c
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@ -213,10 +213,10 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)}, {"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */ /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)}, {"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */ /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
@ -348,7 +348,7 @@ static struct {
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results: // Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint32_t blackboxConditionCache; static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions); STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIteration; static uint32_t blackboxIteration;
static uint16_t blackboxPFrameIndex, blackboxIFrameIndex; static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
@ -442,6 +442,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME: case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->rate_num < blackboxConfig()->rate_denom; return blackboxConfig()->rate_num < blackboxConfig()->rate_denom;
case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
return debugMode != DEBUG_NONE;
case FLIGHT_LOG_FIELD_CONDITION_NEVER: case FLIGHT_LOG_FIELD_CONDITION_NEVER:
return false; return false;
default: default:
@ -568,7 +571,9 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT); blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT); blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4); if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
}
//Motors can be below minimum output when disarmed, but that doesn't happen much //Motors can be below minimum output when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow); blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
@ -698,7 +703,9 @@ static void writeInterframe(void)
//Since gyros, accs and motors are noisy, base their predictions on the average of the history: //Since gyros, accs and motors are noisy, base their predictions on the average of the history:
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT); blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT); blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), 4); if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
}
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount()); blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) { if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {

2
src/main/blackbox/blackbox_fielddefs.h
View file

@ -42,6 +42,8 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME, FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
FLIGHT_LOG_FIELD_CONDITION_DEBUG,
FLIGHT_LOG_FIELD_CONDITION_NEVER, FLIGHT_LOG_FIELD_CONDITION_NEVER,
FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS, FLIGHT_LOG_FIELD_CONDITION_FIRST = FLIGHT_LOG_FIELD_CONDITION_ALWAYS,