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Add logging for raw sonar data

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This commit is contained in:
Nicholas Sherlock 2015-05-12 18:37:56 +12:00
parent 948d39a20c
commit e6a40d732d
5 changed files with 50 additions and 1 deletions
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30
src/main/blackbox/blackbox.c
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@ -197,6 +197,9 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
#ifdef BARO
{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
#endif
#ifdef SONAR
{"sonarRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SONAR},
#endif
/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
{"gyroData", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@ -349,6 +352,13 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
return feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
case FLIGHT_LOG_FIELD_CONDITION_SONAR:
#ifdef SONAR
return feature(FEATURE_SONAR);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return masterConfig.blackbox_rate_num < masterConfig.blackbox_rate_denom;
@ -468,6 +478,12 @@ static void writeIntraframe(void)
}
#endif
#ifdef SONAR
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
blackboxWriteSignedVB(blackboxCurrent->sonarRaw);
}
#endif
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
blackboxWriteSignedVB(blackboxCurrent->gyroData[x]);
}
@ -550,7 +566,7 @@ static void writeInterframe(void)
blackboxWriteTag8_4S16(deltas);
//Check for sensors that are updated periodically (so deltas are normally zero) VBAT, Amperage, MAG, BARO
//Check for sensors that are updated periodically (so deltas are normally zero)
int optionalFieldCount = 0;
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
@ -574,6 +590,13 @@ static void writeInterframe(void)
deltas[optionalFieldCount++] = blackboxCurrent->BaroAlt - blackboxLast->BaroAlt;
}
#endif
#ifdef SONAR
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_SONAR)) {
deltas[optionalFieldCount++] = blackboxCurrent->sonarRaw - blackboxLast->sonarRaw;
}
#endif
blackboxWriteTag8_8SVB(deltas, optionalFieldCount);
//Since gyros, accs and motors are noisy, base the prediction on the average of the history:
@ -775,6 +798,11 @@ static void loadBlackboxState(void)
blackboxCurrent->BaroAlt = BaroAlt;
#endif
#ifdef SONAR
// Store the raw sonar value without applying tilt correction
blackboxCurrent->sonarRaw = sonarRead();
#endif
#ifdef USE_SERVOS
//Tail servo for tricopters
blackboxCurrent->servo[5] = servo[5];