mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-23 16:25:31 +03:00
Blackbox: add new "slow frames" for rarely updated flight mode flags
This commit is contained in:
Nicholas Sherlock
parent
080da53fdc
commit
69ea90f522
2 changed files with 245 additions and 147 deletions
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@ -81,6 +81,7 @@
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#define BLACKBOX_I_INTERVAL 32
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#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
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#define SLOW_FRAME_INTERVAL 4096
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#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
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@ -100,31 +101,15 @@ static const char blackboxHeader[] =
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"H Data version:2\n"
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"H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
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static const char* const blackboxMainHeaderNames[] = {
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"I name",
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"I signed",
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"I predictor",
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"I encoding",
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"P predictor",
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"P encoding"
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static const char* const blackboxFieldHeaderNames[] = {
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"name",
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"signed",
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"predictor",
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"encoding",
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"predictor",
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"encoding"
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};
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#ifdef GPS
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static const char* const blackboxGPSGHeaderNames[] = {
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"G name",
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"G signed",
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"G predictor",
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"G encoding"
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};
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static const char* const blackboxGPSHHeaderNames[] = {
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"H name",
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"H signed",
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"H predictor",
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"H encoding"
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};
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#endif
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/* All field definition structs should look like this (but with longer arrs): */
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typedef struct blackboxFieldDefinition_t {
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const char *name;
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@ -135,7 +120,30 @@ typedef struct blackboxFieldDefinition_t {
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uint8_t arr[1];
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} blackboxFieldDefinition_t;
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typedef struct blackboxMainFieldDefinition_t {
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#define BLACKBOX_DELTA_FIELD_HEADER_COUNT ARRAY_LENGTH(blackboxFieldHeaderNames)
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#define BLACKBOX_SIMPLE_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
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#define BLACKBOX_CONDITIONAL_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
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typedef struct blackboxSimpleFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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uint8_t isSigned;
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uint8_t predict;
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uint8_t encode;
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} blackboxSimpleFieldDefinition_t;
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typedef struct blackboxConditionalFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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uint8_t isSigned;
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uint8_t predict;
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uint8_t encode;
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uint8_t condition; // Decide whether this field should appear in the log
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} blackboxConditionalFieldDefinition_t;
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typedef struct blackboxDeltaFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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@ -145,17 +153,7 @@ typedef struct blackboxMainFieldDefinition_t {
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uint8_t Ppredict;
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uint8_t Pencode;
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uint8_t condition; // Decide whether this field should appear in the log
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} blackboxMainFieldDefinition_t;
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typedef struct blackboxGPSFieldDefinition_t {
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const char *name;
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int8_t fieldNameIndex;
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uint8_t isSigned;
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uint8_t predict;
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uint8_t encode;
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uint8_t condition; // Decide whether this field should appear in the log
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} blackboxGPSFieldDefinition_t;
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} blackboxDeltaFieldDefinition_t;
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/**
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* Description of the blackbox fields we are writing in our main intra (I) and inter (P) frames. This description is
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@ -163,7 +161,7 @@ typedef struct blackboxGPSFieldDefinition_t {
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* the encoding to happen, we have to encode the flight log ourselves in write{Inter|Intra}frame() in a way that matches
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* the encoding we've promised here).
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*/
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static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
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static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
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/* loopIteration doesn't appear in P frames since it always increments */
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{"loopIteration",-1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC), .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
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/* Time advances pretty steadily so the P-frame prediction is a straight line */
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@ -225,7 +223,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
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#ifdef GPS
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// GPS position/vel frame
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static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
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static const blackboxConditionalFieldDefinition_t blackboxGpsGFields[] = {
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{"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
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{"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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@ -236,28 +234,67 @@ static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
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};
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// GPS home frame
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static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
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{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB), CONDITION(ALWAYS)}
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static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
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{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
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{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)}
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};
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#endif
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// Rarely-updated fields
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static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
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{"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
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{"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)}
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};
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typedef enum BlackboxState {
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BLACKBOX_STATE_DISABLED = 0,
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BLACKBOX_STATE_STOPPED,
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BLACKBOX_STATE_SEND_HEADER,
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BLACKBOX_STATE_SEND_FIELDINFO,
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BLACKBOX_STATE_SEND_GPS_H_HEADERS,
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BLACKBOX_STATE_SEND_GPS_G_HEADERS,
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BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
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BLACKBOX_STATE_SEND_GPS_H_HEADER,
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BLACKBOX_STATE_SEND_GPS_G_HEADER,
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BLACKBOX_STATE_SEND_SLOW_HEADER,
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BLACKBOX_STATE_SEND_SYSINFO,
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BLACKBOX_STATE_RUNNING,
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BLACKBOX_STATE_SHUTTING_DOWN
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} BlackboxState;
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typedef struct gpsState_t {
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typedef struct blackboxMainState_t {
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uint32_t time;
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int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
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int16_t rcCommand[4];
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int16_t gyroADC[XYZ_AXIS_COUNT];
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int16_t accSmooth[XYZ_AXIS_COUNT];
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int16_t motor[MAX_SUPPORTED_MOTORS];
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int16_t servo[MAX_SUPPORTED_SERVOS];
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uint16_t vbatLatest;
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uint16_t amperageLatest;
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#ifdef BARO
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int32_t BaroAlt;
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#endif
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#ifdef MAG
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int16_t magADC[XYZ_AXIS_COUNT];
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#endif
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#ifdef SONAR
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int32_t sonarRaw;
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#endif
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uint16_t rssi;
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} blackboxMainState_t;
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typedef struct blackboxGpsState_t {
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int32_t GPS_home[2], GPS_coord[2];
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uint8_t GPS_numSat;
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} gpsState_t;
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} blackboxGpsState_t;
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// This data is updated really infrequently:
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typedef struct blackboxSlowState_t {
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uint16_t flightModeFlags;
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uint8_t stateFlags;
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} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
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//From mixer.c:
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extern uint8_t motorCount;
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@ -291,7 +328,8 @@ static uint32_t blackboxConditionCache;
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STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_NEVER, too_many_flight_log_conditions);
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static uint32_t blackboxIteration;
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static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
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static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
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static uint16_t blackboxSlowFrameIterationTimer;
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/*
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* We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
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@ -300,13 +338,14 @@ static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
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*/
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static uint16_t vbatReference;
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static gpsState_t gpsHistory;
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static blackboxGpsState_t gpsHistory;
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static blackboxSlowState_t slowHistory;
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// Keep a history of length 2, plus a buffer for MW to store the new values into
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static blackboxValues_t blackboxHistoryRing[3];
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static blackboxMainState_t blackboxHistoryRing[3];
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// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
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static blackboxValues_t* blackboxHistory[3];
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static blackboxMainState_t* blackboxHistory[3];
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static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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{
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@ -402,9 +441,10 @@ static void blackboxSetState(BlackboxState newState)
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xmitState.headerIndex = 0;
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xmitState.u.startTime = millis();
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break;
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case BLACKBOX_STATE_SEND_FIELDINFO:
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case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
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case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
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case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
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case BLACKBOX_STATE_SEND_GPS_G_HEADER:
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case BLACKBOX_STATE_SEND_GPS_H_HEADER:
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case BLACKBOX_STATE_SEND_SLOW_HEADER:
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xmitState.headerIndex = 0;
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xmitState.u.fieldIndex = -1;
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break;
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@ -415,6 +455,7 @@ static void blackboxSetState(BlackboxState newState)
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blackboxIteration = 0;
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blackboxPFrameIndex = 0;
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blackboxIFrameIndex = 0;
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blackboxSlowFrameIterationTimer = SLOW_FRAME_INTERVAL; //Force a slow frame to be written on the first iteration
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break;
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case BLACKBOX_STATE_SHUTTING_DOWN:
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xmitState.u.startTime = millis();
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@ -428,7 +469,7 @@ static void blackboxSetState(BlackboxState newState)
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static void writeIntraframe(void)
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{
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blackboxValues_t *blackboxCurrent = blackboxHistory[0];
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blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
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int x;
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blackboxWrite('I');
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@ -530,8 +571,8 @@ static void writeInterframe(void)
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int x;
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int32_t deltas[8];
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blackboxValues_t *blackboxCurrent = blackboxHistory[0];
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blackboxValues_t *blackboxLast = blackboxHistory[1];
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blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
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blackboxMainState_t *blackboxLast = blackboxHistory[1];
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blackboxWrite('P');
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@ -637,6 +678,52 @@ static void writeInterframe(void)
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blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
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}
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/* Write the contents of the global "slowHistory" to the log as an "S" frame. Because this data is logged so
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* infrequently, delta updates are not reasonable, so we log independent frames. */
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static void writeSlowFrame(void)
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{
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blackboxWrite('S');
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blackboxWriteUnsignedVB(slowHistory.flightModeFlags);
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blackboxWriteUnsignedVB(slowHistory.stateFlags);
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blackboxSlowFrameIterationTimer = 0;
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}
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/**
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* Load rarely-changing values from the FC into the given structure
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*/
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static void loadSlowState(blackboxSlowState_t *slow)
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{
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slow->flightModeFlags = flightModeFlags;
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slow->stateFlags = stateFlags;
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}
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static void writeSlowFrameIfNeeded(void)
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{
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// Write the slow frame peridocially so it can be recovered if we ever lose sync
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bool shouldWrite = blackboxSlowFrameIterationTimer >= SLOW_FRAME_INTERVAL;
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if (shouldWrite) {
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loadSlowState(&slowHistory);
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} else {
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blackboxSlowState_t newSlowState;
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loadSlowState(&newSlowState);
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// Only write a slow frame if it was different from the previous state
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if (memcmp(&newSlowState, &slowHistory, sizeof(slowHistory)) != 0) {
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// Use the new state as our new history
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memcpy(&slowHistory, &newSlowState, sizeof(slowHistory));
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shouldWrite = true;
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}
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}
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if (shouldWrite) {
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writeSlowFrame();
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}
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}
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static int gcd(int num, int denom)
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{
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if (denom == 0) {
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@ -773,9 +860,9 @@ static void writeGPSFrame()
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/**
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* Fill the current state of the blackbox using values read from the flight controller
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*/
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static void loadBlackboxState(void)
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static void loadMainState(void)
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{
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blackboxValues_t *blackboxCurrent = blackboxHistory[0];
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blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
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int i;
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blackboxCurrent->time = currentTime;
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@ -838,6 +925,9 @@ static void loadBlackboxState(void)
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* H Field I name:a,b,c
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* H Field I predictor:0,1,2
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*
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* For all header types, provide a "mainFrameChar" which is the name for the field and will be used to refer to it in the
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* header (e.g. P, I etc). For blackboxDeltaField_t fields, also provide deltaFrameChar, otherwise set this to zero.
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*
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* Provide an array 'conditions' of FlightLogFieldCondition enums if you want these conditions to decide whether a field
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* should be included or not. Otherwise provide NULL for this parameter and NULL for secondCondition.
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*
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@ -848,15 +938,22 @@ static void loadBlackboxState(void)
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*
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* Returns true if there is still header left to transmit (so call again to continue transmission).
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*/
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static bool sendFieldDefinition(const char * const *headerNames, unsigned int headerCount, const void *fieldDefinitions,
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static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const void *fieldDefinitions,
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const void *secondFieldDefinition, int fieldCount, const uint8_t *conditions, const uint8_t *secondCondition)
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{
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const blackboxFieldDefinition_t *def;
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int charsWritten;
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unsigned int headerCount;
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static bool needComma = false;
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size_t definitionStride = (char*) secondFieldDefinition - (char*) fieldDefinitions;
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size_t conditionsStride = (char*) secondCondition - (char*) conditions;
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if (deltaFrameChar) {
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headerCount = BLACKBOX_DELTA_FIELD_HEADER_COUNT;
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} else {
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headerCount = BLACKBOX_SIMPLE_FIELD_HEADER_COUNT;
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}
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/*
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* We're chunking up the header data so we don't exceed our datarate. So we'll be called multiple times to transmit
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* the whole header.
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@ -866,10 +963,7 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
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return false; //Someone probably called us again after we had already completed transmission
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}
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charsWritten = blackboxPrint("H Field ");
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charsWritten += blackboxPrint(headerNames[xmitState.headerIndex]);
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blackboxWrite(':');
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charsWritten++;
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charsWritten = blackboxPrintf("H Field %c %s:", xmitState.headerIndex >= BLACKBOX_SIMPLE_FIELD_HEADER_COUNT ? deltaFrameChar : mainFrameChar, blackboxFieldHeaderNames[xmitState.headerIndex]);
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xmitState.u.fieldIndex++;
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needComma = false;
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@ -1050,83 +1144,38 @@ static void blackboxCheckAndLogArmingBeep()
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}
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}
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/**
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* Call each flight loop iteration to perform blackbox logging.
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/*
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* Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
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* the portion of logged loop iterations.
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*/
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void handleBlackbox(void)
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static bool blackboxShouldLogPFrame(uint32_t pFrameIndex)
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{
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int i;
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switch (blackboxState) {
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case BLACKBOX_STATE_SEND_HEADER:
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//On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
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/*
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* Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
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* buffer.
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/* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
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* recorded / skipped frames when the I frame's position is considered:
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*/
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if (millis() > xmitState.u.startTime + 100) {
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for (i = 0; i < blackboxWriteChunkSize && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
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blackboxWrite(blackboxHeader[xmitState.headerIndex]);
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}
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if (blackboxHeader[xmitState.headerIndex] == '\0') {
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blackboxSetState(BLACKBOX_STATE_SEND_FIELDINFO);
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}
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}
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break;
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case BLACKBOX_STATE_SEND_FIELDINFO:
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//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
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if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, blackboxMainFields + 1,
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ARRAY_LENGTH(blackboxMainFields), &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
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#ifdef GPS
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if (feature(FEATURE_GPS)) {
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blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADERS);
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} else
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#endif
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blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
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}
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break;
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#ifdef GPS
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case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
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//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, blackboxGpsHFields + 1,
|
||||
ARRAY_LENGTH(blackboxGpsHFields), &blackboxGpsHFields[0].condition, &blackboxGpsHFields[1].condition)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADERS);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, blackboxGpsGFields + 1,
|
||||
ARRAY_LENGTH(blackboxGpsGFields), &blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
//On entry of this state, xmitState.headerIndex is 0
|
||||
|
||||
//Keep writing chunks of the system info headers until it returns true to signal completion
|
||||
if (blackboxWriteSysinfo()) {
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
|
||||
return (pFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num;
|
||||
}
|
||||
|
||||
// Called once every FC loop in order to log the current state
|
||||
static void blackboxLogIteration()
|
||||
{
|
||||
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
|
||||
if (blackboxPFrameIndex == 0) {
|
||||
// Copy current system values into the blackbox
|
||||
loadBlackboxState();
|
||||
/*
|
||||
* We assume that slow frames are only interesting in that they aid the interpretation of the main data stream.
|
||||
* So only log slow frames during loop iterations where we log a main frame.
|
||||
*/
|
||||
writeSlowFrameIfNeeded();
|
||||
|
||||
loadMainState();
|
||||
writeIntraframe();
|
||||
} else {
|
||||
blackboxCheckAndLogArmingBeep();
|
||||
|
||||
/* Adding a magic shift of "masterConfig.blackbox_rate_num - 1" in here creates a better spread of
|
||||
* recorded / skipped frames when the I frame's position is considered:
|
||||
*/
|
||||
if ((blackboxPFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
|
||||
loadBlackboxState();
|
||||
if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
|
||||
writeSlowFrameIfNeeded();
|
||||
|
||||
loadMainState();
|
||||
writeInterframe();
|
||||
}
|
||||
#ifdef GPS
|
||||
|
|
@ -1152,6 +1201,7 @@ void handleBlackbox(void)
|
|||
#endif
|
||||
}
|
||||
|
||||
blackboxSlowFrameIterationTimer++;
|
||||
blackboxIteration++;
|
||||
blackboxPFrameIndex++;
|
||||
|
||||
|
|
@ -1159,6 +1209,80 @@ void handleBlackbox(void)
|
|||
blackboxPFrameIndex = 0;
|
||||
blackboxIFrameIndex++;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Call each flight loop iteration to perform blackbox logging.
|
||||
*/
|
||||
void handleBlackbox(void)
|
||||
{
|
||||
int i;
|
||||
|
||||
switch (blackboxState) {
|
||||
case BLACKBOX_STATE_SEND_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
|
||||
|
||||
/*
|
||||
* Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
|
||||
* buffer.
|
||||
*/
|
||||
if (millis() > xmitState.u.startTime + 100) {
|
||||
for (i = 0; i < blackboxWriteChunkSize && blackboxHeader[xmitState.headerIndex] != '\0'; i++, xmitState.headerIndex++) {
|
||||
blackboxWrite(blackboxHeader[xmitState.headerIndex]);
|
||||
}
|
||||
|
||||
if (blackboxHeader[xmitState.headerIndex] == '\0') {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER);
|
||||
}
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAY_LENGTH(blackboxMainFields),
|
||||
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
|
||||
#ifdef GPS
|
||||
if (feature(FEATURE_GPS)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
|
||||
} else
|
||||
#endif
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
break;
|
||||
#ifdef GPS
|
||||
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('H', 0, blackboxGpsHFields, blackboxGpsHFields + 1, ARRAY_LENGTH(blackboxGpsHFields),
|
||||
NULL, NULL)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('G', 0, blackboxGpsGFields, blackboxGpsGFields + 1, ARRAY_LENGTH(blackboxGpsGFields),
|
||||
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
break;
|
||||
#endif
|
||||
case BLACKBOX_STATE_SEND_SLOW_HEADER:
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('S', 0, blackboxSlowFields, blackboxSlowFields + 1, ARRAY_LENGTH(blackboxSlowFields),
|
||||
NULL, NULL)) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_SEND_SYSINFO:
|
||||
//On entry of this state, xmitState.headerIndex is 0
|
||||
|
||||
//Keep writing chunks of the system info headers until it returns true to signal completion
|
||||
if (blackboxWriteSysinfo()) {
|
||||
blackboxSetState(BLACKBOX_STATE_RUNNING);
|
||||
}
|
||||
break;
|
||||
case BLACKBOX_STATE_RUNNING:
|
||||
// On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
|
||||
|
||||
blackboxLogIteration();
|
||||
break;
|
||||
case BLACKBOX_STATE_SHUTTING_DOWN:
|
||||
//On entry of this state, startTime is set and a flush is performed
|
||||
|
|
|
|||
|
|
@ -23,32 +23,6 @@
|
|||
#include "flight/mixer.h"
|
||||
#include "blackbox/blackbox_fielddefs.h"
|
||||
|
||||
typedef struct blackboxValues_t {
|
||||
uint32_t time;
|
||||
|
||||
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
|
||||
|
||||
int16_t rcCommand[4];
|
||||
int16_t gyroADC[XYZ_AXIS_COUNT];
|
||||
int16_t accSmooth[XYZ_AXIS_COUNT];
|
||||
int16_t motor[MAX_SUPPORTED_MOTORS];
|
||||
int16_t servo[MAX_SUPPORTED_SERVOS];
|
||||
|
||||
uint16_t vbatLatest;
|
||||
uint16_t amperageLatest;
|
||||
|
||||
#ifdef BARO
|
||||
int32_t BaroAlt;
|
||||
#endif
|
||||
#ifdef MAG
|
||||
int16_t magADC[XYZ_AXIS_COUNT];
|
||||
#endif
|
||||
#ifdef SONAR
|
||||
int32_t sonarRaw;
|
||||
#endif
|
||||
uint16_t rssi;
|
||||
} blackboxValues_t;
|
||||
|
||||
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
|
||||
|
||||
void initBlackbox(void);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue