Added throttle flight statistics (#12978)

* Added throttle flight statistics

* Changed rc_stats.c/h license header to a modern one

* rc_stats.c Style fix

mk/source.mk

@@ -105,6 +105,7 @@ COMMON_SRC = \
             rx/msp.c \
             rx/pwm.c \
             rx/frsky_crc.c \
+            rx/rc_stats.c \
             rx/rx.c \
             rx/rx_bind.c \
             rx/rx_spi.c \
@@ -326,6 +327,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             flight/pid.c \
             flight/rpm_filter.c \
             rx/ibus.c \
+            rx/rc_stats.c \
             rx/rx.c \
             rx/rx_spi.c \
             rx/crsf.c \

src/main/build/debug.c

@@ -114,4 +114,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "CURRENT_ANGLE",
     "DSHOT_TELEMETRY_COUNTS",
     "RPM_LIMIT",
+    "RC_STATS",
 };

src/main/build/debug.h

@@ -20,6 +20,8 @@
 
 #pragma once
 
+#include <stdint.h>
+
 #define DEBUG16_VALUE_COUNT 8
 extern int16_t debug[DEBUG16_VALUE_COUNT];
 extern uint8_t debugMode;
@@ -112,6 +114,7 @@ typedef enum {
     DEBUG_CURRENT_ANGLE,
     DEBUG_DSHOT_TELEMETRY_COUNTS,
     DEBUG_RPM_LIMIT,
+    DEBUG_RC_STATS,
     DEBUG_COUNT
 } debugType_e;
 

src/main/cli/settings.c

@@ -1736,7 +1736,9 @@ const clivalue_t valueTable[] = {
 #ifdef USE_BATTERY_CONTINUE
     { "stats_mah_used",     VAR_UINT32 | MASTER_VALUE, .config.u32Max = UINT32_MAX, PG_STATS_CONFIG, offsetof(statsConfig_t, stats_mah_used) },
 #endif
-#endif
+
+#endif // USE_PERSISTENT_STATS
+
     { "craft_name",       VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, MAX_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, craftName) },
 #ifdef USE_OSD
     { "pilot_name",     VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, MAX_NAME_LENGTH, STRING_FLAGS_NONE }, PG_PILOT_CONFIG, offsetof(pilotConfig_t, pilotName) },

src/main/fc/core.c

@@ -92,6 +92,7 @@
 #include "pg/pg_ids.h"
 #include "pg/rx.h"
 
+#include "rx/rc_stats.h"
 #include "rx/rx.h"
 
 #include "scheduler/scheduler.h"
@@ -554,6 +555,10 @@ void tryArm(void)
 #endif
         ENABLE_ARMING_FLAG(ARMED);
 
+#ifdef USE_RC_STATS
+        NotifyRcStatsArming();
+#endif
+
         resetTryingToArm();
 
 #ifdef USE_ACRO_TRAINER

src/main/fc/tasks.c

@@ -82,6 +82,7 @@
 #include "pg/motor.h"
 
 #include "rx/rx.h"
+#include "rx/rc_stats.h"
 
 #include "scheduler/scheduler.h"
 
@@ -450,6 +451,11 @@ task_attribute_t task_attributes[TASK_COUNT] = {
 #ifdef USE_CRSF_V3
     [TASK_SPEED_NEGOTIATION] = DEFINE_TASK("SPEED_NEGOTIATION", NULL, NULL, speedNegotiationProcess, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 #endif
+
+#ifdef USE_RC_STATS
+    [TASK_RC_STATS] = DEFINE_TASK("RC_STATS", NULL, NULL, rcStatsUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
+#endif
+
 };
 
 task_t *getTask(unsigned taskId)
@@ -621,4 +627,8 @@ void tasksInit(void)
 #ifdef SIMULATOR_MULTITHREAD
     rescheduleTask(TASK_RX, 1);
 #endif
+
+#ifdef USE_RC_STATS
+    setTaskEnabled(TASK_RC_STATS, true);
+#endif
 }

src/main/osd/osd.c

@@ -89,6 +89,7 @@
 #include "pg/stats.h"
 
 #include "rx/crsf.h"
+#include "rx/rc_stats.h"
 #include "rx/rx.h"
 
 #include "scheduler/scheduler.h"
@@ -196,6 +197,9 @@ const osd_stats_e osdStatsDisplayOrder[OSD_STAT_COUNT] = {
     OSD_STAT_WATT_HOURS_DRAWN,
     OSD_STAT_BEST_3_CONSEC_LAPS,
     OSD_STAT_BEST_LAP,
+    OSD_STAT_FULL_THROTTLE_TIME,
+    OSD_STAT_FULL_THROTTLE_COUNTER,
+    OSD_STAT_AVG_THROTTLE,
 };
 
 // Group elements in a number of groups to reduce task scheduling overhead
@@ -355,6 +359,12 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
     // turn off the over mah capacity warning
     osdWarnSetState(OSD_WARNING_OVER_CAP, false);
 
+#ifdef USE_RC_STATS
+    osdStatSetState(OSD_STAT_FULL_THROTTLE_TIME, true);
+    osdStatSetState(OSD_STAT_FULL_THROTTLE_COUNTER, true);
+    osdStatSetState(OSD_STAT_AVG_THROTTLE, true);    
+#endif
+
     osdConfig->timers[OSD_TIMER_1] = osdTimerDefault[OSD_TIMER_1];
     osdConfig->timers[OSD_TIMER_2] = osdTimerDefault[OSD_TIMER_2];
 
@@ -1009,6 +1019,28 @@ static bool osdDisplayStat(int statistic, uint8_t displayRow)
         osdDisplayStatisticLabel(midCol, displayRow, "TOTAL DISTANCE", buff);
         return true;
 #endif
+#ifdef USE_RC_STATS
+    case OSD_STAT_FULL_THROTTLE_TIME: {
+        int seconds = RcStatsGetFullThrottleTimeUs() / 1000000;
+        const int minutes = seconds / 60;
+        seconds = seconds % 60;
+        tfp_sprintf(buff, "%02d:%02d", minutes, seconds);
+        osdDisplayStatisticLabel(midCol, displayRow, "100% THRT TIME", buff);
+        return true;
+    }
+
+    case OSD_STAT_FULL_THROTTLE_COUNTER: {
+        itoa(RcStatsGetFullThrottleCounter(), buff, 10);
+        osdDisplayStatisticLabel(midCol, displayRow, "100% THRT COUNT", buff);
+        return true;
+    }
+
+    case OSD_STAT_AVG_THROTTLE: {
+        itoa(RcStatsGetAverageThrottle(), buff, 10);
+        osdDisplayStatisticLabel(midCol, displayRow, "AVG THROTTLE", buff);
+        return true;
+    }
+#endif // USE_RC_STATS
     }
     return false;
 }

src/main/osd/osd.h

@@ -232,6 +232,9 @@ typedef enum {
     OSD_STAT_MIN_RSNR,
     OSD_STAT_BEST_3_CONSEC_LAPS,
     OSD_STAT_BEST_LAP,
+    OSD_STAT_FULL_THROTTLE_TIME,
+    OSD_STAT_FULL_THROTTLE_COUNTER,
+    OSD_STAT_AVG_THROTTLE,
     OSD_STAT_COUNT // MUST BE LAST
 } osd_stats_e;
 

src/main/rx/rc_stats.c

@@ -0,0 +1,95 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "platform.h"
+
+#ifdef USE_RC_STATS
+
+#include "build/debug.h"
+#include "fc/core.h"
+#include "fc/rc_modes.h"
+#include "fc/runtime_config.h"
+
+#include "rx/rc_stats.h"
+
+timeUs_t previousTimeUs = 0;
+bool throttleEverRaisedAfterArming = false;
+uint32_t counter = 0;
+uint32_t totalTrottleNumber = 0;
+timeUs_t fullThrottleTimeUs = 0;
+uint32_t fullThrottleCounter = 0;
+int8_t previousThrottlePercent = 0;
+
+
+void rcStatsUpdate(timeUs_t currentTimeUs)
+{
+    uint32_t deltaT = currentTimeUs - previousTimeUs;
+    previousTimeUs = currentTimeUs;
+    const int8_t throttlePercent = calculateThrottlePercent();
+
+    if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) && !throttleEverRaisedAfterArming) {
+        if (abs(throttlePercent) >= 15) { // start counting stats if throttle was raised >= 15% after arming
+            throttleEverRaisedAfterArming = true;
+        }
+    }
+
+    if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) && throttleEverRaisedAfterArming) {
+        counter++;
+        totalTrottleNumber += throttlePercent;
+
+        if (abs(throttlePercent) == 100) {
+            fullThrottleTimeUs += deltaT;
+            if (abs(previousThrottlePercent) != 100) {
+                fullThrottleCounter ++;
+            }
+        }
+    }
+
+    DEBUG_SET(DEBUG_RC_STATS, 0, lrintf(RcStatsGetAverageThrottle()));
+
+    previousThrottlePercent = throttlePercent;
+}
+
+uint32_t RcStatsGetFullThrottleCounter(void)
+{
+    return fullThrottleCounter;
+}
+
+timeUs_t RcStatsGetFullThrottleTimeUs(void)
+{
+    return fullThrottleTimeUs;
+}
+
+int8_t RcStatsGetAverageThrottle(void)
+{
+    return (float)totalTrottleNumber/(float)counter + 0.5; // rounding
+}
+
+void NotifyRcStatsArming(void)
+{
+    throttleEverRaisedAfterArming = false;
+}
+
+#endif // USE_RC_STATS

src/main/rx/rc_stats.h

@@ -0,0 +1,34 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_RC_STATS
+
+#include "common/time.h"
+
+void rcStatsUpdate(timeUs_t currentTimeUs);
+void NotifyRcStatsArming(void);
+int8_t RcStatsGetAverageThrottle(void);
+uint32_t RcStatsGetFullThrottleCounter(void);
+timeUs_t RcStatsGetFullThrottleTimeUs(void);
+
+#endif // USE_RC_STATS

src/main/scheduler/scheduler.h

@@ -176,6 +176,9 @@ typedef enum {
 #ifdef USE_CRSF_V3
     TASK_SPEED_NEGOTIATION,
 #endif
+#ifdef USE_RC_STATS
+    TASK_RC_STATS,
+#endif
 
     /* Count of real tasks */
     TASK_COUNT,