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Convert motor values at the final stage // Increase resolution

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This commit is contained in:
borisbstyle 2017-03-08 01:19:40 +01:00
parent c5054f9e9d
commit b21877438e
9 changed files with 62 additions and 50 deletions
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7
src/main/blackbox/blackbox.c
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@ -323,7 +323,7 @@ typedef struct blackboxSlowState_s {
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From mixer.c:
extern uint16_t motorOutputHigh, motorOutputLow;
extern float motorOutputHigh, motorOutputLow;
//From rc_controls.c
extern boxBitmask_t rcModeActivationMask;
@ -1188,6 +1188,9 @@ static bool sendFieldDefinition(char mainFrameChar, char deltaFrameChar, const v
*/
static bool blackboxWriteSysinfo(void)
{
const uint16_t motorOutputLowInt = lrintf(motorOutputLow);
const uint16_t motorOutputHighInt = lrintf(motorOutputHigh);
// Make sure we have enough room in the buffer for our longest line (as of this writing, the "Firmware date" line)
if (blackboxDeviceReserveBufferSpace(64) != BLACKBOX_RESERVE_SUCCESS) {
return false;
@ -1203,7 +1206,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("minthrottle", "%d", motorConfig()->minthrottle);
BLACKBOX_PRINT_HEADER_LINE("maxthrottle", "%d", motorConfig()->maxthrottle);
BLACKBOX_PRINT_HEADER_LINE("gyro_scale","0x%x", castFloatBytesToInt(1.0f));
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLow,motorOutputHigh);
BLACKBOX_PRINT_HEADER_LINE("motorOutput", "%d,%d", motorOutputLowInt,motorOutputHighInt);
BLACKBOX_PRINT_HEADER_LINE("acc_1G", "%u", acc.dev.acc_1G);
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(