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Code Issues Wiki Activity

Blackbox: make logging of autotune events more detailed

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This commit is contained in:
Nicholas Sherlock 2015-01-27 01:43:13 +13:00
parent febf80915f
commit 9708c00a2e
3 changed files with 62 additions and 10 deletions
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17
src/main/blackbox/blackbox.c
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@ -354,6 +354,12 @@ static void writeSignedVB(int32_t value)
writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
}
static void writeS16(int16_t value)
{
blackboxWrite(value & 0xFF);
blackboxWrite((value >> 8) & 0xFF);
}
/**
* Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
*/
@ -1270,17 +1276,24 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_START:
blackboxWrite(data->autotuneCycleStart.phase);
blackboxWrite(data->autotuneCycleStart.cycle);
blackboxWrite(data->autotuneCycleStart.cycle | (data->autotuneCycleStart.rising ? 0x80 : 0));
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_CYCLE_RESULT:
blackboxWrite(data->autotuneCycleResult.overshot);
blackboxWrite(data->autotuneCycleResult.flags);
blackboxWrite(data->autotuneCycleStart.p);
blackboxWrite(data->autotuneCycleStart.i);
blackboxWrite(data->autotuneCycleStart.d);
break;
case FLIGHT_LOG_EVENT_AUTOTUNE_TARGETS:
writeS16(data->autotuneTargets.currentAngle);
blackboxWrite((uint8_t) data->autotuneTargets.targetAngle);
blackboxWrite((uint8_t) data->autotuneTargets.targetAngleAtPeak);
writeS16(data->autotuneTargets.firstPeakAngle);
writeS16(data->autotuneTargets.secondPeakAngle);
break;
case FLIGHT_LOG_EVENT_LOG_END:
blackboxPrint("End of log");
blackboxWrite(0);