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Added PID configuration, filters etc to Log file

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Add the PID configuration settings, controller number, dterm filters
etc to blackbox log file.
This commit is contained in:
Gary Keeble 2016-04-24 21:52:35 +01:00
parent 2731e9e046
commit 372c9de651
1 changed files with 115 additions and 6 deletions
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121
src/main/blackbox/blackbox.c
View file

@ -1183,17 +1183,126 @@ static bool blackboxWriteSysinfo()
blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8); blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
break; break;
case 15: case 15:
blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor); blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
break; break;
case 16: case 16:
blackboxPrintfHeaderLine("rates:%d,%d,%d", blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[0],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[1],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[2]);
break; break;
case 17: case 17:
blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
break;
case 18:
blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
break;
case 19:
blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor);
break;
case 20:
blackboxPrintfHeaderLine("rates:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
break;
case 21:
blackboxPrintfHeaderLine("looptime:%d", targetLooptime); blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
break; break;
case 22:
blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
break;
case 23:
blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
break;
case 24:
blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
break;
case 25:
blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
break;
case 26:
blackboxPrintfHeaderLine("altPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
break;
case 27:
blackboxPrintfHeaderLine("posPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
break;
case 28:
blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
break;
case 29:
blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
break;
case 30:
blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
break;
case 31:
blackboxPrintfHeaderLine("magPID:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
break;
case 32:
blackboxPrintfHeaderLine("velPID:%d,%d,%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
break;
case 33:
blackboxPrintfHeaderLine("yaw_p_limit:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
break;
case 34:
blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0));
break;
case 35:
blackboxPrintfHeaderLine("dterm_average_count:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
break;
case 36:
blackboxPrintfHeaderLine("dynamic_dterm_threshold:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.dynamic_dterm_threshold);
break;
case 37:
blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermResetRate);
break;
case 38:
blackboxPrintfHeaderLine("yawItermResetRate:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermResetRate);
break;
case 39:
blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0));
break;
case 40:
blackboxPrintfHeaderLine("deltaMethod:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.deltaMethod);
break;
case 41:
blackboxPrintfHeaderLine("H_sensitivity:%d",
masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);
break;
default: default:
return true; return true;
} }
@ -1519,5 +1628,5 @@ void initBlackbox(void)
blackboxSetState(BLACKBOX_STATE_DISABLED); blackboxSetState(BLACKBOX_STATE_DISABLED);
} }
} }
#endif #endif