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Add unfiltered gyro black box field (#12907)

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* Add unfiltered gyro black box field

* Rename UFGYRO and GyroUf to gyroUnfilt
This commit is contained in:
tbolin 2023-07-07 09:37:32 +02:00 • committed by GitHub
parent 9186d05468
commit 90d09e2e5b
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 20 additions and 2 deletions
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15
src/main/blackbox/blackbox.c
View file

@ -227,6 +227,9 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
{"gyroADC", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYRO)},
{"gyroUnfilt", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYROUNFILT)},
{"gyroUnfilt", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYROUNFILT)},
{"gyroUnfilt", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(GYROUNFILT)},
{"accSmooth", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ACC)},
@ -324,6 +327,7 @@ typedef struct blackboxMainState_s {
int16_t rcCommand[4];
int16_t setpoint[4];
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t gyroUnfilt[XYZ_AXIS_COUNT];
int16_t accADC[XYZ_AXIS_COUNT];
int16_t debug[DEBUG16_VALUE_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
@ -518,6 +522,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case CONDITION(GYRO):
return isFieldEnabled(FIELD_SELECT(GYRO));
case CONDITION(GYROUNFILT):
return isFieldEnabled(FIELD_SELECT(GYROUNFILT));
case CONDITION(ACC):
return sensors(SENSOR_ACC) && isFieldEnabled(FIELD_SELECT(ACC));
@ -661,6 +668,10 @@ static void writeIntraframe(void)
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(CONDITION(GYROUNFILT))) {
blackboxWriteSigned16VBArray(blackboxCurrent->gyroUnfilt, XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(CONDITION(ACC))) {
blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
}
@ -822,6 +833,9 @@ static void writeInterframe(void)
if (testBlackboxCondition(CONDITION(GYRO))) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(CONDITION(GYROUNFILT))) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroUnfilt), XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(CONDITION(ACC))) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
}
@ -1119,6 +1133,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->axisPID_D[i] = lrintf(pidData[i].D);
blackboxCurrent->axisPID_F[i] = lrintf(pidData[i].F);
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i] * blackboxHighResolutionScale);
blackboxCurrent->gyroUnfilt[i] = lrintf(gyro.gyroADC[i] * blackboxHighResolutionScale);
#if defined(USE_ACC)
blackboxCurrent->accADC[i] = lrintf(acc.accADC[i]);
#endif

2
src/main/blackbox/blackbox_fielddefs.h
View file

@ -61,6 +61,7 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME,
FLIGHT_LOG_FIELD_CONDITION_GYRO,
FLIGHT_LOG_FIELD_CONDITION_GYROUNFILT,
FLIGHT_LOG_FIELD_CONDITION_ACC,
FLIGHT_LOG_FIELD_CONDITION_DEBUG_LOG,
@ -84,6 +85,7 @@ typedef enum FlightLogFieldSelect_e { // no more than 32
FLIGHT_LOG_FIELD_SELECT_MOTOR,
FLIGHT_LOG_FIELD_SELECT_GPS,
FLIGHT_LOG_FIELD_SELECT_RPM,
FLIGHT_LOG_FIELD_SELECT_GYROUNFILT,
FLIGHT_LOG_FIELD_SELECT_COUNT
} FlightLogFieldSelect_e;

1
src/main/cli/settings.c
View file

@ -821,6 +821,7 @@ const clivalue_t valueTable[] = {
#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) },
{ "blackbox_disable_gyrounfilt",VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_GYROUNFILT, 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