Merge pull request #9315 from hydra/bf-log-disarm-reason

Log disarm reason.

src/main/blackbox/blackbox.c

@@ -1459,6 +1459,9 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
         blackboxWriteUnsignedVB(data->flightMode.flags);
         blackboxWriteUnsignedVB(data->flightMode.lastFlags);
         break;
+    case FLIGHT_LOG_EVENT_DISARM:
+        blackboxWriteUnsignedVB(data->disarm.reason);
+        break;
     case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT:
         if (data->inflightAdjustment.floatFlag) {
             blackboxWrite(data->inflightAdjustment.adjustmentFunction + FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG);
@@ -1476,6 +1479,8 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
         blackboxWriteString("End of log");
         blackboxWrite(0);
         break;
+    default:
+        break;
     }
 }
 

src/main/blackbox/blackbox.h

@@ -40,8 +40,12 @@ typedef enum BlackboxMode {
 
 typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START = 10,   // UNUSED
+    FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT = 11,  // UNUSED
+    FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS = 12,       // UNUSED
     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
+    FLIGHT_LOG_EVENT_DISARM = 15,
     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;

src/main/blackbox/blackbox_fielddefs.h

@@ -113,6 +113,10 @@ typedef struct flightLogEvent_syncBeep_s {
     uint32_t time;
 } flightLogEvent_syncBeep_t;
 
+typedef struct flightLogEvent_disarm_s {
+    uint32_t reason;
+} flightLogEvent_disarm_t;
+
 typedef struct flightLogEvent_flightMode_s { // New Event Data type
     uint32_t flags;
     uint32_t lastFlags;
@@ -135,6 +139,7 @@ typedef struct flightLogEvent_loggingResume_s {
 typedef union flightLogEventData_u {
     flightLogEvent_syncBeep_t syncBeep;
     flightLogEvent_flightMode_t flightMode; // New event data
+    flightLogEvent_disarm_t disarm;
     flightLogEvent_inflightAdjustment_t inflightAdjustment;
     flightLogEvent_loggingResume_t loggingResume;
 } flightLogEventData_t;

src/main/fc/core.c

@@ -28,6 +28,7 @@
 #include "build/debug.h"
 
 #include "blackbox/blackbox.h"
+#include "blackbox/blackbox_fielddefs.h"
 
 #include "cli/cli.h"
 
@@ -422,7 +423,7 @@ void updateArmingStatus(void)
     }
 }
 
-void disarm(void)
+void disarm(flightLogDisarmReason_e reason)
 {
     if (ARMING_FLAG(ARMED)) {
         ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
@@ -436,6 +437,10 @@ void disarm(void)
 #endif
 
 #ifdef USE_BLACKBOX
+        flightLogEvent_disarm_t eventData;
+        eventData.reason = reason;
+        blackboxLogEvent(FLIGHT_LOG_EVENT_DISARM, (flightLogEventData_t*)&eventData);
+
         if (blackboxConfig()->device && blackboxConfig()->mode != BLACKBOX_MODE_ALWAYS_ON) { // Close the log upon disarm except when logging mode is ALWAYS ON
             blackboxFinish();
         }
@@ -739,7 +744,7 @@ bool processRx(timeUs_t currentTimeUs)
     // in 3D mode, we need to be able to disarm by switch at any time
     if (featureIsEnabled(FEATURE_3D)) {
         if (!IS_RC_MODE_ACTIVE(BOXARM))
-            disarm();
+            disarm(DISARM_REASON_SWITCH);
     }
 
     updateRSSI(currentTimeUs);
@@ -881,7 +886,7 @@ bool processRx(timeUs_t currentTimeUs)
             if (throttleStatus == THROTTLE_LOW) {
                 if ((autoDisarmDelayUs > 0) && (currentTimeUs > disarmAt)) {
                     // auto-disarm configured and delay is over
-                    disarm();
+                    disarm(DISARM_REASON_THROTTLE_TIMEOUT);
                     armedBeeperOn = false;
                 } else {
                     // still armed; do warning beeps while armed
@@ -1093,7 +1098,7 @@ static FAST_CODE void subTaskPidController(timeUs_t currentTimeUs)
                 runawayTakeoffTriggerUs = currentTimeUs + RUNAWAY_TAKEOFF_ACTIVATE_DELAY;
             } else if (currentTimeUs > runawayTakeoffTriggerUs) {
                 setArmingDisabled(ARMING_DISABLED_RUNAWAY_TAKEOFF);
-                disarm();
+                disarm(DISARM_REASON_RUNAWAY_TAKEOFF);
             }
         } else {
             runawayTakeoffTriggerUs = 0;

src/main/fc/core.h

@@ -47,6 +47,21 @@ typedef enum {
     LAUNCH_CONTROL_MODE_COUNT // must be the last element
 } launchControlMode_e;
 
+typedef enum {
+    DISARM_REASON_ARMING_DISABLED   = 0,
+    DISARM_REASON_FAILSAFE          = 1,
+    DISARM_REASON_THROTTLE_TIMEOUT  = 2,
+    DISARM_REASON_STICKS            = 3,
+    DISARM_REASON_SWITCH            = 4,
+    DISARM_REASON_CRASH_PROTECTION  = 5,
+    DISARM_REASON_RUNAWAY_TAKEOFF   = 6,
+    DISARM_REASON_GPS_RESCUE        = 7,
+    DISARM_REASON_SERIAL_COMMAND    = 8,
+#ifdef UNIT_TEST
+    DISARM_REASON_SYSTEM            = 255,
+#endif
+} flightLogDisarmReason_e;
+
 #ifdef USE_LAUNCH_CONTROL
 #define LAUNCH_CONTROL_THROTTLE_TRIGGER_MAX 90
 extern const char * const osdLaunchControlModeNames[LAUNCH_CONTROL_MODE_COUNT];
@@ -59,7 +74,7 @@ void handleInflightCalibrationStickPosition(void);
 
 void resetArmingDisabled(void);
 
-void disarm(void);
+void disarm(flightLogDisarmReason_e reason);
 void tryArm(void);
 
 bool processRx(timeUs_t currentTimeUs);

src/main/fc/rc_controls.c

@@ -179,7 +179,7 @@ void processRcStickPositions()
             if (ARMING_FLAG(ARMED) && rxIsReceivingSignal() && !failsafeIsActive()  ) {
                 rcDisarmTicks++;
                 if (rcDisarmTicks > 3) {
-                    disarm();
+                    disarm(DISARM_REASON_SWITCH);
                 }
             }
         }
@@ -189,7 +189,7 @@ void processRcStickPositions()
             // Disarm on throttle down + yaw
             resetTryingToArm();
             if (ARMING_FLAG(ARMED))
-                disarm();
+                disarm(DISARM_REASON_STICKS);
             else {
                 beeper(BEEPER_DISARM_REPEAT);     // sound tone while stick held
                 repeatAfter(STICK_AUTOREPEAT_MS); // disarm tone will repeat

src/main/flight/failsafe.c

@@ -320,7 +320,7 @@ void failsafeUpdateState(void)
 #endif
             case FAILSAFE_LANDED:
                 setArmingDisabled(ARMING_DISABLED_FAILSAFE); // To prevent accidently rearming by an intermittent rx link
-                disarm();
+                disarm(DISARM_REASON_FAILSAFE);
                 failsafeState.receivingRxDataPeriod = millis() + failsafeState.receivingRxDataPeriodPreset; // set required period of valid rxData
                 failsafeState.phase = FAILSAFE_RX_LOSS_MONITORING;
                 reprocessState = true;

src/main/flight/gps_rescue.c

@@ -578,7 +578,7 @@ void updateGPSRescueState(void)
 
         if (!STATE(GPS_FIX_HOME)) {
             setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
-            disarm();
+            disarm(DISARM_REASON_GPS_RESCUE);
         }
 
         // Minimum distance detection.
@@ -588,7 +588,7 @@ void updateGPSRescueState(void)
             // Never allow rescue mode to engage as a failsafe when too close.
             if (rescueState.isFailsafe) {
                 setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
-                disarm();
+                disarm(DISARM_REASON_GPS_RESCUE);
             }
             
             // When not in failsafe mode: leave it up to the sanity check setting.
@@ -677,7 +677,7 @@ void updateGPSRescueState(void)
 
         if (rescueState.sensor.accMagnitude > magnitudeTrigger) {
             setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
-            disarm();
+            disarm(DISARM_REASON_GPS_RESCUE);
             rescueState.phase = RESCUE_COMPLETE;
         }
 
@@ -692,7 +692,7 @@ void updateGPSRescueState(void)
         break;
     case RESCUE_ABORT:
         setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
-        disarm();
+        disarm(DISARM_REASON_GPS_RESCUE);
         rescueStop();
         break;
     default:

src/main/flight/pid.c

@@ -936,7 +936,7 @@ static void detectAndSetCrashRecovery(
                 && fabsf(getSetpointRate(axis)) < crashSetpointThreshold) {
                 if (crash_recovery == PID_CRASH_RECOVERY_DISARM) {
                     setArmingDisabled(ARMING_DISABLED_CRASH_DETECTED);
-                    disarm();
+                    disarm(DISARM_REASON_CRASH_PROTECTION);
                 } else {
                     inCrashRecoveryMode = true;
                     crashDetectedAtUs = currentTimeUs;

src/main/msp/msp.c

@@ -2854,7 +2854,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, uint8_t cmdMSP,
                 mspArmingDisableByDescriptor(srcDesc);
                 setArmingDisabled(ARMING_DISABLED_MSP);
                 if (ARMING_FLAG(ARMED)) {
-                    disarm();
+                    disarm(DISARM_REASON_ARMING_DISABLED);
                 }
 #ifdef USE_RUNAWAY_TAKEOFF
                 runawayTakeoffTemporaryDisable(false);

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -614,7 +614,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
             break;
         case BST_DISARM:
             if (ARMING_FLAG(ARMED)) {
-                    disarm();
+                disarm(DISARM_REASON_SERIAL_COMMAND);
             }
             setArmingDisabled(ARMING_DISABLED_BST);
             break;

src/test/unit/arming_prevention_unittest.cc

@@ -676,7 +676,7 @@ TEST(ArmingPreventionTest, GPSRescueWithoutFixPreventsArm)
     rcData[AUX1] = 1000;
 
     // when
-    disarm();
+    disarm(DISARM_REASON_SYSTEM);
     updateActivatedModes();
     updateArmingStatus();
 
@@ -720,7 +720,7 @@ TEST(ArmingPreventionTest, GPSRescueWithoutFixPreventsArm)
     rcData[AUX1] = 1000;
 
     // when
-    disarm();
+    disarm(DISARM_REASON_SYSTEM);
     updateActivatedModes();
     updateArmingStatus();
 
@@ -790,7 +790,7 @@ TEST(ArmingPreventionTest, GPSRescueSwitchPreventsArm)
     rcData[AUX1] = 1000;
 
     // when
-    disarm();
+    disarm(DISARM_REASON_SYSTEM);
     updateActivatedModes();
     updateArmingStatus();
 
@@ -834,7 +834,7 @@ TEST(ArmingPreventionTest, GPSRescueSwitchPreventsArm)
     rcData[AUX1] = 1000;
 
     // when
-    disarm();
+    disarm(DISARM_REASON_SYSTEM);
     updateActivatedModes();
     updateArmingStatus();
 
@@ -951,7 +951,7 @@ TEST(ArmingPreventionTest, Paralyze)
     rcData[AUX1] = 1000;
 
     // when
-    disarm();
+    disarm(DISARM_REASON_SYSTEM);
     updateActivatedModes();
     updateArmingStatus();
 
@@ -1098,4 +1098,5 @@ extern "C" {
     void compassStartCalibration(void) {}
     bool compassIsCalibrationComplete(void) { return true; }
     bool isUpright(void) { return mockIsUpright; }
+    void blackboxLogEvent(FlightLogEvent, union flightLogEventData_u *) {};
 }

src/test/unit/flight_failsafe_unittest.cc

@@ -35,6 +35,7 @@ extern "C" {
     #include "fc/runtime_config.h"
     #include "fc/rc_modes.h"
     #include "fc/rc_controls.h"
+    #include "fc/core.h"
 
     #include "flight/failsafe.h"
 
@@ -571,7 +572,7 @@ bool featureIsEnabled(uint32_t mask) {
     return (mask & testFeatureMask);
 }
 
-void disarm(void) {
+void disarm(flightLogDisarmReason_e) {
     callCounts[COUNTER_MW_DISARM]++;
 }
 

src/test/unit/pid_unittest.cc

@@ -79,7 +79,7 @@ extern "C" {
     float getRcDeflection(int axis) { return simulatedRcDeflection[axis]; }
     void beeperConfirmationBeeps(uint8_t) { }
     bool isLaunchControlActive(void) {return unitLaunchControlActive; }
-    void disarm(void) { }
+    void disarm(flightLogDisarmReason_e) { }
     float applyFFLimit(int axis, float value, float Kp, float currentPidSetpoint) {
         UNUSED(axis);
         UNUSED(Kp);

src/test/unit/rc_controls_unittest.cc

@@ -620,7 +620,7 @@ void handleInflightCalibrationStickPosition(void) {}
 bool featureIsEnabled(uint32_t) { return false;}
 bool sensors(uint32_t) { return false;}
 void tryArm(void) {}
-void disarm(void) {}
+void disarm(flightLogDisarmReason_e) {}
 void dashboardDisablePageCycling() {}
 void dashboardEnablePageCycling() {}
 

src/test/unit/vtx_unittest.cc

@@ -183,4 +183,5 @@ extern "C" {
     void compassStartCalibration(void) {}
     bool compassIsCalibrationComplete(void) { return true; }
     bool isUpright(void) { return true; }
+    void blackboxLogEvent(FlightLogEvent, union flightLogEventData_u *) {};
 }