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Merge pull request #9726 from fgiudice98/blackbox-fields-selection
This commit is contained in:
Michael Keller
GitHub
commit
8f2422f72e
4 changed files with 231 additions and 146 deletions
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@ -88,15 +88,17 @@
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#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SERIAL
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#endif
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PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
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PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 2);
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PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
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.sample_rate = BLACKBOX_RATE_QUARTER,
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.device = DEFAULT_BLACKBOX_DEVICE,
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.record_acc = 1,
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.fields_disabled_mask = 0, // default log all fields
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.mode = BLACKBOX_MODE_NORMAL
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);
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STATIC_ASSERT((sizeof(blackboxConfig()->fields_disabled_mask) * 8) >= FLIGHT_LOG_FIELD_SELECT_COUNT, too_many_flight_log_fields_selections);
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#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
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// Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
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@ -104,6 +106,7 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
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#define PREDICT(x) CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x)
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#define ENCODING(x) CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x)
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#define CONDITION(x) CONCAT(FLIGHT_LOG_FIELD_CONDITION_, x)
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#define FIELD_SELECT(x) CONCAT(FLIGHT_LOG_FIELD_SELECT_, x)
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#define UNSIGNED FLIGHT_LOG_FIELD_UNSIGNED
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#define SIGNED FLIGHT_LOG_FIELD_SIGNED
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@ -176,58 +179,58 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
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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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{"time", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisP", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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{"axisP", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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{"axisP", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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/* I terms get special packed encoding in P frames: */
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{"axisI", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
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{"axisI", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(PID)},
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{"axisI", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(PID)},
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{"axisI", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG2_3S32), CONDITION(PID)},
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{"axisD", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
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{"axisD", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
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{"axisD", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
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{"axisF", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisF", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisF", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"axisF", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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{"axisF", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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{"axisF", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(PID)},
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/* rcCommands are encoded together as a group in P-frames: */
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{"rcCommand", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"rcCommand", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(RC_COMMANDS)},
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{"rcCommand", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(RC_COMMANDS)},
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{"rcCommand", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(RC_COMMANDS)},
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{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(RC_COMMANDS)},
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// setpoint - define 4 fields like rcCommand to use the same encoding. setpoint[4] contains the mixer throttle
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{"setpoint", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"setpoint", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"setpoint", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"setpoint", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
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{"setpoint", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(SETPOINT)},
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{"setpoint", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(SETPOINT)},
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{"setpoint", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(SETPOINT)},
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{"setpoint", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(SETPOINT)},
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{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
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{"amperageLatest",-1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC},
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{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(VBAT)},
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{"amperageLatest",-1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(AMPERAGE_ADC)},
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#ifdef USE_MAG
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{"magADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
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{"magADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(MAG)},
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{"magADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(MAG)},
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{"magADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(MAG)},
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#endif
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#ifdef USE_BARO
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{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
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{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(BARO)},
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#endif
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#ifdef USE_RANGEFINDER
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{"surfaceRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER},
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{"surfaceRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(RANGEFINDER)},
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#endif
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{"rssi", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RSSI},
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{"rssi", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), CONDITION(RSSI)},
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/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
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{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
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{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
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{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
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{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
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{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
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{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
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{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
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{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
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{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
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{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG)},
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{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG)},
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{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG)},
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{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(DEBUG)},
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/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
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{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
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/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
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@ -407,70 +410,87 @@ static bool blackboxIsOnlyLoggingIntraframes(void)
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return blackboxPInterval == 0;
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}
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static bool isFieldEnabled(FlightLogFieldSelect_e field)
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{
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return (blackboxConfig()->fields_disabled_mask & (1 << field)) == 0;
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}
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static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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{
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switch (condition) {
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case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
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case CONDITION(ALWAYS):
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return true;
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
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case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
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return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
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case CONDITION(AT_LEAST_MOTORS_1):
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case CONDITION(AT_LEAST_MOTORS_2):
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case CONDITION(AT_LEAST_MOTORS_3):
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case CONDITION(AT_LEAST_MOTORS_4):
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case CONDITION(AT_LEAST_MOTORS_5):
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case CONDITION(AT_LEAST_MOTORS_6):
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case CONDITION(AT_LEAST_MOTORS_7):
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case CONDITION(AT_LEAST_MOTORS_8):
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return (getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1) && isFieldEnabled(FIELD_SELECT(MOTOR));
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case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
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return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
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case CONDITION(TRICOPTER):
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return (mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI) && isFieldEnabled(FIELD_SELECT(MOTOR));
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
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case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
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return currentPidProfile->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0;
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case CONDITION(PID):
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return isFieldEnabled(FIELD_SELECT(PID));
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case FLIGHT_LOG_FIELD_CONDITION_MAG:
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case CONDITION(NONZERO_PID_D_0):
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case CONDITION(NONZERO_PID_D_1):
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case CONDITION(NONZERO_PID_D_2):
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return (currentPidProfile->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0) && isFieldEnabled(FIELD_SELECT(PID));
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case CONDITION(RC_COMMANDS):
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return isFieldEnabled(FIELD_SELECT(RC_COMMANDS));
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case CONDITION(SETPOINT):
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return isFieldEnabled(FIELD_SELECT(SETPOINT));
|
||||
|
||||
case CONDITION(MAG):
|
||||
#ifdef USE_MAG
|
||||
return sensors(SENSOR_MAG);
|
||||
return sensors(SENSOR_MAG) && isFieldEnabled(FIELD_SELECT(MAG));
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_BARO:
|
||||
case CONDITION(BARO):
|
||||
#ifdef USE_BARO
|
||||
return sensors(SENSOR_BARO);
|
||||
return sensors(SENSOR_BARO) && isFieldEnabled(FIELD_SELECT(ALTITUDE));
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
|
||||
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
|
||||
case CONDITION(VBAT):
|
||||
return (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) && isFieldEnabled(FIELD_SELECT(BATTERY));
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
|
||||
return (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_VIRTUAL);
|
||||
case CONDITION(AMPERAGE_ADC):
|
||||
return (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_VIRTUAL) && isFieldEnabled(FIELD_SELECT(BATTERY));
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER:
|
||||
case CONDITION(RANGEFINDER):
|
||||
#ifdef USE_RANGEFINDER
|
||||
return sensors(SENSOR_RANGEFINDER);
|
||||
return sensors(SENSOR_RANGEFINDER) && isFieldEnabled(FIELD_SELECT(ALTITUDE));
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
|
||||
return isRssiConfigured();
|
||||
case CONDITION(RSSI):
|
||||
return isRssiConfigured() && isFieldEnabled(FIELD_SELECT(RSSI));
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
|
||||
return blackboxPInterval != blackboxIInterval;
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_ACC:
|
||||
return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
|
||||
case CONDITION(GYRO):
|
||||
return isFieldEnabled(FIELD_SELECT(GYRO));
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
|
||||
return debugMode != DEBUG_NONE;
|
||||
case CONDITION(ACC):
|
||||
return sensors(SENSOR_ACC) && isFieldEnabled(FIELD_SELECT(ACC));
|
||||
|
||||
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
|
||||
case CONDITION(DEBUG):
|
||||
return (debugMode != DEBUG_NONE) && isFieldEnabled(FIELD_SELECT(DEBUG));
|
||||
|
||||
case CONDITION(NEVER):
|
||||
return false;
|
||||
|
||||
default:
|
||||
|
|
@ -536,31 +556,37 @@ static void writeIntraframe(void)
|
|||
blackboxWriteUnsignedVB(blackboxIteration);
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->time);
|
||||
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_P, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_I, XYZ_AXIS_COUNT);
|
||||
if (testBlackboxCondition(CONDITION(PID))) {
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_P, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_I, XYZ_AXIS_COUNT);
|
||||
|
||||
// Don't bother writing the current D term if the corresponding PID setting is zero
|
||||
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x]);
|
||||
// Don't bother writing the current D term if the corresponding PID setting is zero
|
||||
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
|
||||
if (testBlackboxCondition(CONDITION(NONZERO_PID_D_0) + x)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x]);
|
||||
}
|
||||
}
|
||||
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
|
||||
}
|
||||
|
||||
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
|
||||
if (testBlackboxCondition(CONDITION(RC_COMMANDS))) {
|
||||
// Write roll, pitch and yaw first:
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
|
||||
|
||||
// Write roll, pitch and yaw first:
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
|
||||
/*
|
||||
* Write the throttle separately from the rest of the RC data as it's unsigned.
|
||||
* Throttle lies in range [PWM_RANGE_MIN..PWM_RANGE_MAX]:
|
||||
*/
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE]);
|
||||
}
|
||||
|
||||
/*
|
||||
* Write the throttle separately from the rest of the RC data as it's unsigned.
|
||||
* Throttle lies in range [PWM_RANGE_MIN..PWM_RANGE_MAX]:
|
||||
*/
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE]);
|
||||
if (testBlackboxCondition(CONDITION(SETPOINT))) {
|
||||
// Write setpoint roll, pitch, yaw, and throttle
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->setpoint, 4);
|
||||
}
|
||||
|
||||
// Write setpoint roll, pitch, yaw, and throttle
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->setpoint, 4);
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
|
||||
if (testBlackboxCondition(CONDITION(VBAT))) {
|
||||
/*
|
||||
* Our voltage is expected to decrease over the course of the flight, so store our difference from
|
||||
* the reference:
|
||||
|
|
@ -570,54 +596,59 @@ static void writeIntraframe(void)
|
|||
blackboxWriteUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
|
||||
}
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC)) {
|
||||
if (testBlackboxCondition(CONDITION(AMPERAGE_ADC))) {
|
||||
// 12bit value directly from ADC
|
||||
blackboxWriteSignedVB(blackboxCurrent->amperageLatest);
|
||||
}
|
||||
|
||||
#ifdef USE_MAG
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
|
||||
if (testBlackboxCondition(CONDITION(MAG))) {
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->magADC, XYZ_AXIS_COUNT);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_BARO
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
|
||||
if (testBlackboxCondition(CONDITION(BARO))) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->BaroAlt);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RANGEFINDER
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER)) {
|
||||
if (testBlackboxCondition(CONDITION(RANGEFINDER))) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->surfaceRaw);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
|
||||
if (testBlackboxCondition(CONDITION(RSSI))) {
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->rssi);
|
||||
}
|
||||
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
|
||||
if (testBlackboxCondition(CONDITION(GYRO))) {
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
|
||||
}
|
||||
|
||||
if (testBlackboxCondition(CONDITION(ACC))) {
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
|
||||
}
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
|
||||
if (testBlackboxCondition(CONDITION(DEBUG))) {
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
|
||||
}
|
||||
|
||||
//Motors can be below minimum output when disarmed, but that doesn't happen much
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
|
||||
if (isFieldEnabled(FIELD_SELECT(MOTOR))) {
|
||||
//Motors can be below minimum output when disarmed, but that doesn't happen much
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
|
||||
|
||||
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
|
||||
const int motorCount = getMotorCount();
|
||||
for (int x = 1; x < motorCount; x++) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
|
||||
}
|
||||
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
|
||||
const int motorCount = getMotorCount();
|
||||
for (int x = 1; x < motorCount; x++) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
|
||||
}
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
|
||||
//Assume the tail spends most of its time around the center
|
||||
blackboxWriteSignedVB(blackboxCurrent->servo[5] - 1500);
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
|
||||
//Assume the tail spends most of its time around the center
|
||||
blackboxWriteSignedVB(blackboxCurrent->servo[5] - 1500);
|
||||
}
|
||||
}
|
||||
|
||||
//Rotate our history buffers:
|
||||
|
|
@ -664,28 +695,30 @@ static void writeInterframe(void)
|
|||
int32_t deltas[8];
|
||||
int32_t setpointDeltas[4];
|
||||
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
|
||||
if (testBlackboxCondition(CONDITION(PID))) {
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
|
||||
|
||||
/*
|
||||
* The PID I field changes very slowly, most of the time +-2, so use an encoding
|
||||
* that can pack all three fields into one byte in that situation.
|
||||
*/
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_I, blackboxLast->axisPID_I, XYZ_AXIS_COUNT);
|
||||
blackboxWriteTag2_3S32(deltas);
|
||||
/*
|
||||
* The PID I field changes very slowly, most of the time +-2, so use an encoding
|
||||
* that can pack all three fields into one byte in that situation.
|
||||
*/
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_I, blackboxLast->axisPID_I, XYZ_AXIS_COUNT);
|
||||
blackboxWriteTag2_3S32(deltas);
|
||||
|
||||
/*
|
||||
* The PID D term is frequently set to zero for yaw, which makes the result from the calculation
|
||||
* always zero. So don't bother recording D results when PID D terms are zero.
|
||||
*/
|
||||
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
|
||||
/*
|
||||
* The PID D term is frequently set to zero for yaw, which makes the result from the calculation
|
||||
* always zero. So don't bother recording D results when PID D terms are zero.
|
||||
*/
|
||||
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_F, blackboxLast->axisPID_F, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
|
||||
arraySubInt32(deltas, blackboxCurrent->axisPID_F, blackboxLast->axisPID_F, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
|
||||
}
|
||||
|
||||
/*
|
||||
* RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
|
||||
|
|
@ -696,22 +729,26 @@ static void writeInterframe(void)
|
|||
setpointDeltas[x] = blackboxCurrent->setpoint[x] - blackboxLast->setpoint[x];
|
||||
}
|
||||
|
||||
blackboxWriteTag8_4S16(deltas);
|
||||
blackboxWriteTag8_4S16(setpointDeltas);
|
||||
if (testBlackboxCondition(CONDITION(RC_COMMANDS))) {
|
||||
blackboxWriteTag8_4S16(deltas);
|
||||
}
|
||||
if (testBlackboxCondition(CONDITION(SETPOINT))) {
|
||||
blackboxWriteTag8_4S16(setpointDeltas);
|
||||
}
|
||||
|
||||
//Check for sensors that are updated periodically (so deltas are normally zero)
|
||||
int optionalFieldCount = 0;
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
|
||||
if (testBlackboxCondition(CONDITION(VBAT))) {
|
||||
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
|
||||
}
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC)) {
|
||||
if (testBlackboxCondition(CONDITION(AMPERAGE_ADC))) {
|
||||
deltas[optionalFieldCount++] = blackboxCurrent->amperageLatest - blackboxLast->amperageLatest;
|
||||
}
|
||||
|
||||
#ifdef USE_MAG
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
|
||||
if (testBlackboxCondition(CONDITION(MAG))) {
|
||||
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
|
||||
deltas[optionalFieldCount++] = blackboxCurrent->magADC[x] - blackboxLast->magADC[x];
|
||||
}
|
||||
|
|
@ -719,35 +756,40 @@ static void writeInterframe(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_BARO
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
|
||||
if (testBlackboxCondition(CONDITION(BARO))) {
|
||||
deltas[optionalFieldCount++] = blackboxCurrent->BaroAlt - blackboxLast->BaroAlt;
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_RANGEFINDER
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER)) {
|
||||
if (testBlackboxCondition(CONDITION(RANGEFINDER))) {
|
||||
deltas[optionalFieldCount++] = blackboxCurrent->surfaceRaw - blackboxLast->surfaceRaw;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
|
||||
if (testBlackboxCondition(CONDITION(RSSI))) {
|
||||
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->rssi - blackboxLast->rssi;
|
||||
}
|
||||
|
||||
blackboxWriteTag8_8SVB(deltas, optionalFieldCount);
|
||||
|
||||
//Since gyros, accs and motors are noisy, base their predictions on the average of the history:
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
|
||||
if (testBlackboxCondition(CONDITION(GYRO))) {
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
|
||||
}
|
||||
if (testBlackboxCondition(CONDITION(ACC))) {
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
|
||||
}
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
|
||||
if (testBlackboxCondition(CONDITION(DEBUG))) {
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
|
||||
}
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
|
||||
if (isFieldEnabled(FIELD_SELECT(MOTOR))) {
|
||||
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
|
||||
|
||||
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
|
||||
blackboxWriteSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
|
||||
}
|
||||
}
|
||||
|
||||
//Rotate our history buffers
|
||||
|
|
@ -1431,6 +1473,8 @@ static bool blackboxWriteSysinfo(void)
|
|||
#endif // USE_RC_SMOOTHING_FILTER
|
||||
BLACKBOX_PRINT_HEADER_LINE("rates_type", "%d", currentControlRateProfile->rates_type);
|
||||
|
||||
BLACKBOX_PRINT_HEADER_LINE("fields_disabled_mask", "%d", blackboxConfig()->fields_disabled_mask);
|
||||
|
||||
default:
|
||||
return true;
|
||||
}
|
||||
|
|
@ -1533,8 +1577,8 @@ STATIC_UNIT_TESTED bool blackboxShouldLogIFrame(void)
|
|||
#ifdef USE_GPS
|
||||
STATIC_UNIT_TESTED bool blackboxShouldLogGpsHomeFrame(void)
|
||||
{
|
||||
if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
|
||||
|| (blackboxPFrameIndex == blackboxIInterval / 2 && blackboxIFrameIndex % 128 == 0)) {
|
||||
if ((GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
|
||||
|| (blackboxPFrameIndex == blackboxIInterval / 2 && blackboxIFrameIndex % 128 == 0)) && isFieldEnabled(FIELD_SELECT(GPS))) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
|
|
@ -1586,7 +1630,7 @@ STATIC_UNIT_TESTED void blackboxLogIteration(timeUs_t currentTimeUs)
|
|||
writeInterframe();
|
||||
}
|
||||
#ifdef USE_GPS
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS) && isFieldEnabled(FIELD_SELECT(GPS))) {
|
||||
if (blackboxShouldLogGpsHomeFrame()) {
|
||||
writeGPSHomeFrame();
|
||||
writeGPSFrame(currentTimeUs);
|
||||
|
|
@ -1654,7 +1698,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
|
|||
if (!sendFieldDefinition('I', 'P', blackboxMainFields, blackboxMainFields + 1, ARRAYLEN(blackboxMainFields),
|
||||
&blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
|
||||
#ifdef USE_GPS
|
||||
if (featureIsEnabled(FEATURE_GPS)) {
|
||||
if (featureIsEnabled(FEATURE_GPS) && isFieldEnabled(FIELD_SELECT(GPS))) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADER);
|
||||
} else
|
||||
#endif
|
||||
|
|
@ -1666,7 +1710,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
|
|||
blackboxReplenishHeaderBudget();
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('H', 0, blackboxGpsHFields, blackboxGpsHFields + 1, ARRAYLEN(blackboxGpsHFields),
|
||||
NULL, NULL)) {
|
||||
NULL, NULL) && isFieldEnabled(FIELD_SELECT(GPS))) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADER);
|
||||
}
|
||||
break;
|
||||
|
|
@ -1674,7 +1718,7 @@ void blackboxUpdate(timeUs_t currentTimeUs)
|
|||
blackboxReplenishHeaderBudget();
|
||||
//On entry of this state, xmitState.headerIndex is 0 and xmitState.u.fieldIndex is -1
|
||||
if (!sendFieldDefinition('G', 0, blackboxGpsGFields, blackboxGpsGFields + 1, ARRAYLEN(blackboxGpsGFields),
|
||||
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition)) {
|
||||
&blackboxGpsGFields[0].condition, &blackboxGpsGFields[1].condition) && isFieldEnabled(FIELD_SELECT(GPS))) {
|
||||
blackboxSetState(BLACKBOX_STATE_SEND_SLOW_HEADER);
|
||||
}
|
||||
break;
|
||||
|
|
|
|||
|
|
@ -61,7 +61,7 @@ typedef enum FlightLogEvent {
|
|||
typedef struct blackboxConfig_s {
|
||||
uint8_t sample_rate; // sample rate
|
||||
uint8_t device;
|
||||
uint8_t record_acc;
|
||||
uint32_t fields_disabled_mask;
|
||||
uint8_t mode;
|
||||
} blackboxConfig_t;
|
||||
|
||||
|
|
|
|||
|
|
@ -39,12 +39,17 @@ typedef enum FlightLogFieldCondition {
|
|||
FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER,
|
||||
FLIGHT_LOG_FIELD_CONDITION_RSSI,
|
||||
|
||||
FLIGHT_LOG_FIELD_CONDITION_PID,
|
||||
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
|
||||
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
|
||||
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
|
||||
|
||||
FLIGHT_LOG_FIELD_CONDITION_RC_COMMANDS,
|
||||
FLIGHT_LOG_FIELD_CONDITION_SETPOINT,
|
||||
|
||||
FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
|
||||
|
||||
FLIGHT_LOG_FIELD_CONDITION_GYRO,
|
||||
FLIGHT_LOG_FIELD_CONDITION_ACC,
|
||||
FLIGHT_LOG_FIELD_CONDITION_DEBUG,
|
||||
|
||||
|
|
@ -54,6 +59,22 @@ typedef enum FlightLogFieldCondition {
|
|||
FLIGHT_LOG_FIELD_CONDITION_LAST = FLIGHT_LOG_FIELD_CONDITION_NEVER
|
||||
} FlightLogFieldCondition;
|
||||
|
||||
typedef enum FlightLogFieldSelect_e { // no more than 32
|
||||
FLIGHT_LOG_FIELD_SELECT_PID = 0,
|
||||
FLIGHT_LOG_FIELD_SELECT_RC_COMMANDS,
|
||||
FLIGHT_LOG_FIELD_SELECT_SETPOINT,
|
||||
FLIGHT_LOG_FIELD_SELECT_BATTERY,
|
||||
FLIGHT_LOG_FIELD_SELECT_MAG,
|
||||
FLIGHT_LOG_FIELD_SELECT_ALTITUDE,
|
||||
FLIGHT_LOG_FIELD_SELECT_RSSI,
|
||||
FLIGHT_LOG_FIELD_SELECT_GYRO,
|
||||
FLIGHT_LOG_FIELD_SELECT_ACC,
|
||||
FLIGHT_LOG_FIELD_SELECT_DEBUG,
|
||||
FLIGHT_LOG_FIELD_SELECT_MOTOR,
|
||||
FLIGHT_LOG_FIELD_SELECT_GPS,
|
||||
FLIGHT_LOG_FIELD_SELECT_COUNT
|
||||
} FlightLogFieldSelect_e;
|
||||
|
||||
typedef enum FlightLogFieldPredictor {
|
||||
//No prediction:
|
||||
FLIGHT_LOG_FIELD_PREDICTOR_0 = 0,
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@
|
|||
#include "build/debug.h"
|
||||
|
||||
#include "blackbox/blackbox.h"
|
||||
#include "blackbox/blackbox_fielddefs.h"
|
||||
|
||||
#include "cms/cms.h"
|
||||
|
||||
|
|
@ -779,7 +780,26 @@ const clivalue_t valueTable[] = {
|
|||
#ifdef USE_BLACKBOX
|
||||
{ "blackbox_sample_rate", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_SAMPLE_RATE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, sample_rate) },
|
||||
{ "blackbox_device", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
|
||||
{ "blackbox_record_acc", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
|
||||
{ "blackbox_disable_pids", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_PID, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
{ "blackbox_disable_rc", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_RC_COMMANDS, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
{ "blackbox_disable_setpoint", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_SETPOINT, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
{ "blackbox_disable_bat", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_BATTERY, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#ifdef USE_MAG
|
||||
{ "blackbox_disable_mag", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_MAG, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#endif
|
||||
#if defined(USE_BARO) || defined(USE_RANGEFINDER)
|
||||
{ "blackbox_disable_alt", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_ALTITUDE, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#endif
|
||||
{ "blackbox_disable_rssi", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_RSSI, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
{ "blackbox_disable_gyro", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_GYRO, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#if defined(USE_ACC)
|
||||
{ "blackbox_disable_acc", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_ACC, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#endif
|
||||
{ "blackbox_disable_debug", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_DEBUG, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
{ "blackbox_disable_motors", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_MOTOR, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#ifdef USE_GPS
|
||||
{ "blackbox_disable_gps", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_GPS, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
|
||||
#endif
|
||||
{ "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue