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Use RC Smoothing initialized settings rather than current PG values

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Prevents possibility of changing paramaters after initializing affecting runtime operation of RC smoothing. Parameter values are loaded during initialization instead of relying on the current PG values.
This commit is contained in:
Bruce Luckcuck 2019-05-15 08:21:15 -04:00
parent a8e9dd94e8
commit 3cee0c99cc
5 changed files with 56 additions and 52 deletions
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24
src/main/blackbox/blackbox.c
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@ -1225,6 +1225,10 @@ static bool blackboxWriteSysinfo(void)
char buf[FORMATTED_DATE_TIME_BUFSIZE];
#ifdef USE_RC_SMOOTHING_FILTER
rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
#endif
const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
switch (xmitState.headerIndex) {
BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight");
@ -1377,16 +1381,16 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);
#ifdef USE_RC_SMOOTHING_FILTER
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d", rxConfig()->rc_smoothing_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rxConfig()->rc_smoothing_debug_axis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rxConfig()->rc_smoothing_input_cutoff,
rxConfig()->rc_smoothing_derivative_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d", rxConfig()->rc_smoothing_auto_factor);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rxConfig()->rc_smoothing_input_type,
rxConfig()->rc_smoothing_derivative_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE),
rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME));
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d", rcSmoothingData->inputFilterType);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rcSmoothingData->debugAxis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rcSmoothingData->inputCutoffSetting,
rcSmoothingData->derivativeCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d", rcSmoothingData->autoSmoothnessFactor);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rcSmoothingData->inputFilterType,
rcSmoothingData->derivativeFilterType);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingData->inputCutoffFrequency,
rcSmoothingData->derivativeCutoffFrequency);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d", rcSmoothingData->averageFrameTimeUs);
#endif // USE_RC_SMOOTHING_FILTER