Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 01:35:41 +03:00
Code Issues Wiki Activity

Converted currentTime to currentTimeUs

Browse source
This commit is contained in:
Martin Budden 2016-12-01 18:57:20 +00:00
parent ec0b52aea1
commit 8d3c825646
38 changed files with 197 additions and 165 deletions
Download patch file Download diff file Expand all files Collapse all files

26
src/main/blackbox/blackbox.c
View file

@ -938,7 +938,7 @@ static void writeGPSHomeFrame()
gpsHistory.GPS_home[1] = GPS_home[1];
}
static void writeGPSFrame(uint32_t currentTime)
static void writeGPSFrame(timeUs_t currentTimeUs)
{
blackboxWrite('G');
@ -950,7 +950,7 @@ static void writeGPSFrame(uint32_t currentTime)
*/
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME)) {
// Predict the time of the last frame in the main log
blackboxWriteUnsignedVB(currentTime - blackboxHistory[1]->time);
blackboxWriteUnsignedVB(currentTimeUs - blackboxHistory[1]->time);
}
blackboxWriteUnsignedVB(GPS_numSat);
@ -969,12 +969,12 @@ static void writeGPSFrame(uint32_t currentTime)
/**
* Fill the current state of the blackbox using values read from the flight controller
*/
static void loadMainState(uint32_t currentTime)
static void loadMainState(timeUs_t currentTimeUs)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
int i;
blackboxCurrent->time = currentTime;
blackboxCurrent->time = currentTimeUs;
for (i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_P[i] = axisPID_P[i];
@ -1401,7 +1401,7 @@ static void blackboxAdvanceIterationTimers()
}
// Called once every FC loop in order to log the current state
static void blackboxLogIteration(uint32_t currentTime)
static void blackboxLogIteration(timeUs_t currentTimeUs)
{
// Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
if (blackboxShouldLogIFrame()) {
@ -1411,7 +1411,7 @@ static void blackboxLogIteration(uint32_t currentTime)
*/
writeSlowFrameIfNeeded(blackboxIsOnlyLoggingIntraframes());
loadMainState(currentTime);
loadMainState(currentTimeUs);
writeIntraframe();
} else {
blackboxCheckAndLogArmingBeep();
@ -1424,7 +1424,7 @@ static void blackboxLogIteration(uint32_t currentTime)
*/
writeSlowFrameIfNeeded(true);
loadMainState(currentTime);
loadMainState(currentTimeUs);
writeInterframe();
}
#ifdef GPS
@ -1440,11 +1440,11 @@ static void blackboxLogIteration(uint32_t currentTime)
|| (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
writeGPSHomeFrame();
writeGPSFrame(currentTime);
writeGPSFrame(currentTimeUs);
} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
//We could check for velocity changes as well but I doubt it changes independent of position
writeGPSFrame(currentTime);
writeGPSFrame(currentTimeUs);
}
}
#endif
@ -1457,7 +1457,7 @@ static void blackboxLogIteration(uint32_t currentTime)
/**
* Call each flight loop iteration to perform blackbox logging.
*/
void handleBlackbox(uint32_t currentTime)
void handleBlackbox(timeUs_t currentTimeUs)
{
int i;
@ -1549,12 +1549,12 @@ void handleBlackbox(uint32_t currentTime)
flightLogEvent_loggingResume_t resume;
resume.logIteration = blackboxIteration;
resume.currentTime = currentTime;
resume.currentTime = currentTimeUs;
blackboxLogEvent(FLIGHT_LOG_EVENT_LOGGING_RESUME, (flightLogEventData_t *) &resume);
blackboxSetState(BLACKBOX_STATE_RUNNING);
blackboxLogIteration(currentTime);
blackboxLogIteration(currentTimeUs);
}
// Keep the logging timers ticking so our log iteration continues to advance
@ -1566,7 +1566,7 @@ void handleBlackbox(uint32_t currentTime)
if (blackboxModeActivationConditionPresent && !IS_RC_MODE_ACTIVE(BOXBLACKBOX) && !startedLoggingInTestMode) {
blackboxSetState(BLACKBOX_STATE_PAUSED);
} else {
blackboxLogIteration(currentTime);
blackboxLogIteration(currentTimeUs);
}
blackboxAdvanceIterationTimers();