Merge branch 'master' of https://github.com/borisbstyle/betaflight

src/main/blackbox/blackbox.c

@@ -893,6 +893,61 @@ void finishBlackbox(void)
     }
 }
 
+/**
+ * Test Motors Blackbox Logging
+ */
+bool startedLoggingInTestMode = false;
+
+void startInTestMode(void)
+{
+    if(!startedLoggingInTestMode) {
+        if (masterConfig.blackbox_device == BLACKBOX_DEVICE_SERIAL) {
+            serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+            if (sharedBlackboxAndMspPort) {
+                return; // When in test mode, we cannot share the MSP and serial logger port!
+            }
+        }
+        startBlackbox();
+        startedLoggingInTestMode = true;
+    }
+}
+void stopInTestMode(void)
+{
+    if(startedLoggingInTestMode) {
+        finishBlackbox();
+        startedLoggingInTestMode = false;
+    }
+}
+/**
+ * We are going to monitor the MSP_SET_MOTOR target variables motor_disarmed[] for values other than minthrottle
+ * on reading a value (i.e. the user is testing the motors), then we enable test mode logging;
+ * we monitor when the values return to minthrottle and start a delay timer (5 seconds); if
+ * the test motors are left at minimum throttle for this delay timer, then we assume we are done testing and
+ * shutdown the logger.
+ *
+ * Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
+ * test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
+ */
+bool inMotorTestMode(void) {
+    static uint32_t resetTime = 0;
+    uint16_t inactiveMotorCommand = (feature(FEATURE_3D) ? masterConfig.flight3DConfig.neutral3d : masterConfig.escAndServoConfig.mincommand);
+    int i;
+    bool atLeastOneMotorActivated = false;
+
+    // set disarmed motor values
+    for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
+        atLeastOneMotorActivated |= (motor_disarmed[i] != inactiveMotorCommand);
+
+    if(atLeastOneMotorActivated) {
+        resetTime = millis() + 5000; // add 5 seconds
+        return true;
+    } else {
+        // Monitor the duration at minimum
+        return (millis() < resetTime);
+    }
+    return false;
+}
+
 #ifdef GPS
 static void writeGPSHomeFrame()
 {
@@ -1533,7 +1588,8 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
-            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX)) {
+            // Prevent the Pausing of the log on the mode switch if in Motor Test Mode
+            if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
                 blackboxSetState(BLACKBOX_STATE_PAUSED);
             } else {
                 blackboxLogIteration();
@@ -1562,6 +1618,20 @@ void handleBlackbox(void)
     // Did we run out of room on the device? Stop!
     if (isBlackboxDeviceFull()) {
         blackboxSetState(BLACKBOX_STATE_STOPPED);
+        // ensure we reset the test mode flag if we stop due to full memory card
+        if (startedLoggingInTestMode) startedLoggingInTestMode = false;
+    } else { // Only log in test mode if there is room!
+
+        if(masterConfig.blackbox_on_motor_test) {
+            // Handle Motor Test Mode
+            if(inMotorTestMode()) {
+                if(blackboxState==BLACKBOX_STATE_STOPPED)
+                    startInTestMode();
+            } else {
+                if(blackboxState!=BLACKBOX_STATE_STOPPED)
+                    stopInTestMode();
+            }
+        }
     }
 }
 

src/main/config/config.c

@@ -172,7 +172,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 143;
+static const uint8_t EEPROM_CONF_VERSION = 144;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -680,6 +680,7 @@ void createDefaultConfig(master_t *config)
 
     config->blackbox_rate_num = 1;
     config->blackbox_rate_denom = 1;
+    config->blackbox_on_motor_test = 0; // default off
 #endif // BLACKBOX
 
 #ifdef SERIALRX_UART

src/main/config/config_master.h

@@ -159,6 +159,7 @@ typedef struct master_t {
     uint8_t blackbox_rate_num;
     uint8_t blackbox_rate_denom;
     uint8_t blackbox_device;
+    uint8_t blackbox_on_motor_test;
 #endif
 
     uint32_t beeper_off_flags;

src/main/io/serial_cli.c

@@ -849,11 +849,11 @@ const clivalue_t valueTable[] = {
     { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
     { "pterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
-    { "yaw_rate_acceleration_limit",VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
-    { "rate_acceleration_limit",    VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
+    { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
 
-    { "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
-    { "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "accumulation_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "yaw_accumulation_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
 
@@ -885,6 +885,7 @@ const clivalue_t valueTable[] = {
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, .config.minmax = { 1,  32 } },
     { "blackbox_rate_denom",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_denom, .config.minmax = { 1,  32 } },
     { "blackbox_device",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.blackbox_device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
+    { "blackbox_on_motor_test",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.blackbox_on_motor_test, .config.lookup = { TABLE_OFF_ON } },
 #endif
 
 #ifdef VTX