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Code Issues Wiki Activity

Added blackbox acc field condition

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This commit is contained in:
Martin Budden 2017-04-24 09:09:28 +01:00
parent b76e1b837c
commit 7058657a9b
4 changed files with 17 additions and 6 deletions
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20
src/main/blackbox/blackbox.c
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@ -81,7 +81,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.device = DEFAULT_BLACKBOX_DEVICE,
.rate_num = 1,
.rate_denom = 1,
.on_motor_test = 0 // default off
.on_motor_test = 0, // default off
.record_acc = 1
);
#define BLACKBOX_I_INTERVAL 32
@ -206,9 +207,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
@ -439,6 +440,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->rate_num < blackboxConfig()->rate_denom;
case FLIGHT_LOG_FIELD_CONDITION_ACC:
return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
return debugMode != DEBUG_NONE;
@ -567,7 +571,9 @@ static void writeIntraframe(void)
}
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
}
@ -698,7 +704,9 @@ static void writeInterframe(void)
//Since gyros, accs and motors are noisy, base their predictions on the average of the history:
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accSmooth), XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
}