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Merge pull request #11313 from daleckystepan/bb-resolution

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Blackbox increase resolution on setpoint, gyro and rounding
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Štěpán Dalecký 2022-06-26 23:57:31 +02:00 • committed by GitHub
commit e416072662
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 19 additions and 12 deletions
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27
src/main/blackbox/blackbox.c
View file

@ -90,13 +90,14 @@
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SERIAL
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 3);
PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.fields_disabled_mask = 0, // default log all fields
.sample_rate = BLACKBOX_RATE_QUARTER,
.device = DEFAULT_BLACKBOX_DEVICE,
.fields_disabled_mask = 0, // default log all fields
.mode = BLACKBOX_MODE_NORMAL
.mode = BLACKBOX_MODE_NORMAL,
.high_resolution = false
);
STATIC_ASSERT((sizeof(blackboxConfig()->fields_disabled_mask) * 8) >= FLIGHT_LOG_FIELD_SELECT_COUNT, too_many_flight_log_fields_selections);
@ -380,6 +381,7 @@ STATIC_UNIT_TESTED int8_t blackboxPInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
static float blackboxHighResolutionScale;
/*
* We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
@ -1060,26 +1062,26 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->time = currentTimeUs;
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->axisPID_P[i] = pidData[i].P;
blackboxCurrent->axisPID_I[i] = pidData[i].I;
blackboxCurrent->axisPID_D[i] = pidData[i].D;
blackboxCurrent->axisPID_F[i] = pidData[i].F;
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->axisPID_P[i] = lrintf(pidData[i].P);
blackboxCurrent->axisPID_I[i] = lrintf(pidData[i].I);
blackboxCurrent->axisPID_D[i] = lrintf(pidData[i].D);
blackboxCurrent->axisPID_F[i] = lrintf(pidData[i].F);
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i] * blackboxHighResolutionScale);
#if defined(USE_ACC)
blackboxCurrent->accADC[i] = lrintf(acc.accADC[i]);
#endif
#ifdef USE_MAG
blackboxCurrent->magADC[i] = mag.magADC[i];
blackboxCurrent->magADC[i] = lrintf(mag.magADC[i]);
#endif
}
for (int i = 0; i < 4; i++) {
blackboxCurrent->rcCommand[i] = lrintf(rcCommand[i]);
blackboxCurrent->rcCommand[i] = lrintf(rcCommand[i] * blackboxHighResolutionScale);
}
// log the currentPidSetpoint values applied to the PID controller
for (int i = 0; i < XYZ_AXIS_COUNT; i++) {
blackboxCurrent->setpoint[i] = lrintf(pidGetPreviousSetpoint(i));
blackboxCurrent->setpoint[i] = lrintf(pidGetPreviousSetpoint(i) * blackboxHighResolutionScale);
}
// log the final throttle value used in the mixer
blackboxCurrent->setpoint[3] = lrintf(mixerGetThrottle() * 1000);
@ -1475,6 +1477,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_RATES_TYPE, "%d", currentControlRateProfile->rates_type);
BLACKBOX_PRINT_HEADER_LINE("fields_disabled_mask", "%d", blackboxConfig()->fields_disabled_mask);
BLACKBOX_PRINT_HEADER_LINE("blackbox_high_resolution", "%d", blackboxConfig()->high_resolution);
#ifdef USE_BATTERY_VOLTAGE_SAG_COMPENSATION
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_VBAT_SAG_COMPENSATION, "%d", currentPidProfile->vbat_sag_compensation);
@ -1974,5 +1977,7 @@ void blackboxInit(void)
blackboxSetState(BLACKBOX_STATE_DISABLED);
}
blackboxSInterval = blackboxIInterval * 256; // S-frame is written every 256*32 = 8192ms, approx every 8 seconds
blackboxHighResolutionScale = blackboxConfig()->high_resolution ? 10.0f : 1.0f;
}
#endif

3
src/main/blackbox/blackbox.h
View file

@ -59,10 +59,11 @@ typedef enum FlightLogEvent {
} FlightLogEvent;
typedef struct blackboxConfig_s {
uint32_t fields_disabled_mask;
uint8_t sample_rate; // sample rate
uint8_t device;
uint32_t fields_disabled_mask;
uint8_t mode;
uint8_t high_resolution;
} blackboxConfig_t;
PG_DECLARE(blackboxConfig_t, blackboxConfig);

1
src/main/cli/settings.c
View file

@ -838,6 +838,7 @@ const clivalue_t valueTable[] = {
{ "blackbox_disable_gps", VAR_UINT32 | MASTER_VALUE | MODE_BITSET, .config.bitpos = FLIGHT_LOG_FIELD_SELECT_GPS, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, fields_disabled_mask) },
#endif
{ "blackbox_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },
{ "blackbox_high_resolution", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, high_resolution) },
#endif
// PG_MOTOR_CONFIG