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Add setpoint to blackbox logging

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Currently only rcCommand values are included in the log data and the configurator calculates the actual setpoint values based on rates values added to the blackbox header. The problem with this is that the rates information is only written at arming so if the rates change during the log (rateprofile change, in-flight adjustments, etc.) then the calculated setpoints will be incorrect. There's no way to tell from the log that this happened. This often causes confusion because it will suddenly make it appear in the log that the PID controller is not acheiving the requested rates when it's just a presentation error. Also the rates will be incorrectly calculated when the user selects Raceflight style rates as the rates type is not supplied in the log header (and the viewer doesn't have the forumla for them anyway).

This change adds the actual setpoint values for each axis as used by the PID controller, removing the necessity for the viewer to perform any calculations. In addition to showing any rate changes, it will also show any cases where other flight features have modified the setpoints from the user's input. These were invisible previously (examples include level modes, Acro Trainer, GPS Rescue, yaw spin recovery, etc.).

Also the throttle value used in the mixer is included in the throttle axis. This allow visualization of things that affect the commanded throttle like throttle boost, throttle limit, GPS Rescue, angle level strength, etc.
This commit is contained in:
Bruce Luckcuck 2019-01-22 16:21:52 -05:00
parent a4ce8b5600
commit 99685c21c6
5 changed files with 38 additions and 1 deletions
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8
src/main/flight/pid.c
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@ -242,6 +242,8 @@ typedef union dtermLowpass_u {
biquadFilter_t biquadFilter;
} dtermLowpass_t;
static FAST_RAM_ZERO_INIT float previousPidSetpoint[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermNotchApplyFn;
static FAST_RAM_ZERO_INIT biquadFilter_t dtermNotch[XYZ_AXIS_COUNT];
static FAST_RAM_ZERO_INIT filterApplyFnPtr dtermLowpassApplyFn;
@ -1151,7 +1153,6 @@ static float applyLaunchControl(int axis, const rollAndPitchTrims_t *angleTrim)
void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, timeUs_t currentTimeUs)
{
static float previousGyroRateDterm[XYZ_AXIS_COUNT];
static float previousPidSetpoint[XYZ_AXIS_COUNT];
static timeUs_t levelModeStartTimeUs = 0;
static bool gpsRescuePreviousState = false;
@ -1458,3 +1459,8 @@ void pidSetItermReset(bool enabled)
{
zeroThrottleItermReset = enabled;
}
float pidGetPreviousSetpoint(int axis)
{
return previousPidSetpoint[axis];
}