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https://github.com/betaflight/betaflight.git
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merge upstream into sirinfpv branch
This commit is contained in:
Evgeny Sychov
commit
a1a71d68ac
82 changed files with 5241 additions and 1372 deletions
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@ -308,7 +308,7 @@ typedef struct blackboxGpsState_s {
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// This data is updated really infrequently:
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typedef struct blackboxSlowState_s {
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uint16_t flightModeFlags;
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uint32_t flightModeFlags; // extend this data size (from uint16_t)
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uint8_t stateFlags;
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uint8_t failsafePhase;
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bool rxSignalReceived;
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@ -324,9 +324,17 @@ extern uint32_t currentTime;
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//From rx.c:
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extern uint16_t rssi;
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//From gyro.c
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extern uint32_t targetLooptime;
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//From rc_controls.c
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extern uint32_t rcModeActivationMask;
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static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
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static uint32_t blackboxLastArmingBeep = 0;
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static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
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static struct {
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uint32_t headerIndex;
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@ -402,11 +410,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
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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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if (IS_PID_CONTROLLER_FP_BASED(currentProfile->pidProfile.pidController)) {
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return currentProfile->pidProfile.D_f[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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} else {
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return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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}
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return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
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case FLIGHT_LOG_FIELD_CONDITION_MAG:
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#ifdef MAG
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@ -739,7 +743,7 @@ static void writeSlowFrame(void)
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*/
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static void loadSlowState(blackboxSlowState_t *slow)
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{
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slow->flightModeFlags = flightModeFlags;
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slow->flightModeFlags = rcModeActivationMask; //was flightModeFlags;
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slow->stateFlags = stateFlags;
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slow->failsafePhase = failsafePhase();
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slow->rxSignalReceived = rxIsReceivingSignal();
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@ -862,6 +866,8 @@ void startBlackbox(void)
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* it finally plays the beep for this arming event.
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*/
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blackboxLastArmingBeep = getArmingBeepTimeMicros();
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blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
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blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
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}
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@ -1128,7 +1134,7 @@ static bool blackboxWriteSysinfo()
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blackboxPrintfHeaderLine("Firmware type:Cleanflight");
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break;
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case 1:
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blackboxPrintfHeaderLine("Firmware revision:%s", shortGitRevision);
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blackboxPrintfHeaderLine("Firmware revision:Betaflight %s (%s)", FC_VERSION_STRING, shortGitRevision);
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break;
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case 2:
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blackboxPrintfHeaderLine("Firmware date:%s %s", buildDate, buildTime);
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@ -1171,6 +1177,165 @@ static bool blackboxWriteSysinfo()
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blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
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}
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break;
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case 13:
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blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
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break;
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case 14:
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blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
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break;
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case 15:
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blackboxPrintfHeaderLine("thrMid:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrMid8);
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break;
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case 16:
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blackboxPrintfHeaderLine("thrExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].thrExpo8);
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break;
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case 17:
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blackboxPrintfHeaderLine("dynThrPID:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].dynThrPID);
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break;
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case 18:
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blackboxPrintfHeaderLine("tpa_breakpoint:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].tpa_breakpoint);
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break;
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case 19:
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blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor);
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break;
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case 20:
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blackboxPrintfHeaderLine("rates:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[YAW]);
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break;
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case 21:
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blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
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break;
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case 22:
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blackboxPrintfHeaderLine("pidController:%d", masterConfig.profile[masterConfig.current_profile_index].pidProfile.pidController);
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break;
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case 23:
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blackboxPrintfHeaderLine("rollPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[ROLL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[ROLL]);
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break;
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case 24:
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blackboxPrintfHeaderLine("pitchPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PITCH],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PITCH]);
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break;
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case 25:
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blackboxPrintfHeaderLine("yawPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[YAW],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[YAW]);
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break;
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case 26:
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blackboxPrintfHeaderLine("altPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDALT],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDALT]);
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break;
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case 27:
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blackboxPrintfHeaderLine("posPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOS],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOS]);
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break;
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case 28:
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blackboxPrintfHeaderLine("posrPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDPOSR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDPOSR]);
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break;
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case 29:
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blackboxPrintfHeaderLine("navrPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDNAVR],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDNAVR]);
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break;
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case 30:
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blackboxPrintfHeaderLine("levelPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDLEVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDLEVEL]);
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break;
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case 31:
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blackboxPrintfHeaderLine("magPID:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDMAG]);
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break;
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case 32:
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blackboxPrintfHeaderLine("velPID:%d,%d,%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.P8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.I8[PIDVEL],
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.D8[PIDVEL]);
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break;
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case 33:
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blackboxPrintfHeaderLine("yaw_p_limit:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_p_limit);
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break;
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case 34:
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blackboxPrintfHeaderLine("yaw_lpf_hz:%d",
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(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.yaw_lpf_hz * 100.0f));
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break;
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case 35:
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blackboxPrintfHeaderLine("dterm_average_count:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_average_count);
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break;
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case 36:
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blackboxPrintfHeaderLine("dterm_differentiator:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_differentiator);
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break;
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case 37:
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blackboxPrintfHeaderLine("rollPitchItermResetRate:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.rollPitchItermResetRate);
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break;
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case 38:
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blackboxPrintfHeaderLine("yawItermResetRate:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.yawItermResetRate);
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break;
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case 39:
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blackboxPrintfHeaderLine("dterm_lpf_hz:%d",
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(int)(masterConfig.profile[masterConfig.current_profile_index].pidProfile.dterm_lpf_hz * 100.0f));
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break;
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case 40:
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blackboxPrintfHeaderLine("H_sensitivity:%d",
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masterConfig.profile[masterConfig.current_profile_index].pidProfile.H_sensitivity);
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break;
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case 41:
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blackboxPrintfHeaderLine("deadband:%d", masterConfig.rcControlsConfig.deadband);
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break;
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case 42:
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blackboxPrintfHeaderLine("yaw_deadband:%d", masterConfig.rcControlsConfig.yaw_deadband);
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break;
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case 43:
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blackboxPrintfHeaderLine("gyro_lpf:%d", masterConfig.gyro_lpf);
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break;
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case 44:
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blackboxPrintfHeaderLine("gyro_lowpass_hz:%d", (int)(masterConfig.gyro_soft_lpf_hz * 100.0f));
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break;
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case 45:
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blackboxPrintfHeaderLine("acc_lpf_hz:%d", (int)(masterConfig.acc_lpf_hz * 100.0f));
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break;
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case 46:
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blackboxPrintfHeaderLine("acc_hardware:%d", masterConfig.acc_hardware);
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break;
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case 47:
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blackboxPrintfHeaderLine("baro_hardware:%d", masterConfig.baro_hardware);
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break;
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case 48:
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blackboxPrintfHeaderLine("mag_hardware:%d", masterConfig.mag_hardware);
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break;
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case 49:
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blackboxPrintfHeaderLine("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
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break;
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case 50:
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blackboxPrintfHeaderLine("vbat_pid_compensation:%d", masterConfig.batteryConfig.vbatPidCompensation);
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break;
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case 51:
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blackboxPrintfHeaderLine("rc_smoothing:%d", masterConfig.rxConfig.rcSmoothing);
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break;
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case 52:
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blackboxPrintfHeaderLine("features:%d", masterConfig.enabledFeatures);
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break;
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default:
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return true;
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}
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@ -1198,6 +1363,10 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
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case FLIGHT_LOG_EVENT_SYNC_BEEP:
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blackboxWriteUnsignedVB(data->syncBeep.time);
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break;
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case FLIGHT_LOG_EVENT_FLIGHTMODE: // New flightmode flags write
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blackboxWriteUnsignedVB(data->flightMode.flags);
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blackboxWriteUnsignedVB(data->flightMode.lastFlags);
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break;
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case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT:
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if (data->inflightAdjustment.floatFlag) {
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blackboxWrite(data->inflightAdjustment.adjustmentFunction + FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG);
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@ -1238,6 +1407,21 @@ static void blackboxCheckAndLogArmingBeep()
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}
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}
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/* monitor the flight mode event status and trigger an event record if the state changes */
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static void blackboxCheckAndLogFlightMode()
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{
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flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
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// Use != so that we can still detect a change if the counter wraps
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if (rcModeActivationMask != blackboxLastFlightModeFlags) {
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eventData.lastFlags = blackboxLastFlightModeFlags;
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blackboxLastFlightModeFlags = rcModeActivationMask;
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eventData.flags = rcModeActivationMask;
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blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
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}
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}
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/*
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* Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
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* the portion of logged loop iterations.
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@ -1282,6 +1466,7 @@ static void blackboxLogIteration()
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writeIntraframe();
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} else {
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blackboxCheckAndLogArmingBeep();
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blackboxCheckAndLogFlightMode(); // Check for FlightMode status change event
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if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
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/*
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@ -1476,5 +1661,5 @@ void initBlackbox(void)
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blackboxSetState(BLACKBOX_STATE_DISABLED);
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}
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}
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#endif
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