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Merge pull request #4498 from mikeller/add_blackbox_always_on_option

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Added option to have blackbox always on.
This commit is contained in:
Michael Keller 2017-11-07 18:06:38 +13:00 • committed by GitHub
commit f4bb2f92bf
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4 changed files with 42 additions and 13 deletions
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45
src/main/blackbox/blackbox.c
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@ -71,6 +71,11 @@
#include "sensors/gyro.h"
#include "sensors/sonar.h"
enum {
BLACKBOX_MODE_NORMAL = 0,
BLACKBOX_MODE_MOTOR_TEST,
BLACKBOX_MODE_ALWAYS_ON
};
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
@ -80,13 +85,13 @@
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SERIAL
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.p_denom = 32,
.device = DEFAULT_BLACKBOX_DEVICE,
.on_motor_test = 0, // default off
.record_acc = 1
.record_acc = 1,
.mode = BLACKBOX_MODE_NORMAL
);
#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
@ -889,9 +894,9 @@ void blackboxFinish(void)
/**
* Test Motors Blackbox Logging
*/
bool startedLoggingInTestMode = false;
static bool startedLoggingInTestMode = false;
void startInTestMode(void)
static void startInTestMode(void)
{
if (!startedLoggingInTestMode) {
if (blackboxConfig()->device == BLACKBOX_DEVICE_SERIAL) {
@ -904,7 +909,8 @@ void startInTestMode(void)
startedLoggingInTestMode = true;
}
}
void stopInTestMode(void)
static void stopInTestMode(void)
{
if (startedLoggingInTestMode) {
blackboxFinish();
@ -921,7 +927,7 @@ void stopInTestMode(void)
* Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
* test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
*/
bool inMotorTestMode(void) {
static bool inMotorTestMode(void) {
static uint32_t resetTime = 0;
if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
@ -1649,20 +1655,37 @@ void blackboxUpdate(timeUs_t currentTimeUs)
#endif
blackboxSetState(BLACKBOX_STATE_STOPPED);
// ensure we reset the test mode flag if we stop due to full memory card
if (startedLoggingInTestMode) startedLoggingInTestMode = false;
if (startedLoggingInTestMode) {
startedLoggingInTestMode = false;
}
#ifdef USE_FLASHFS
}
#endif
} else { // Only log in test mode if there is room!
if (blackboxConfig()->on_motor_test) {
switch (blackboxConfig()->mode) {
case BLACKBOX_MODE_MOTOR_TEST:
// Handle Motor Test Mode
if (inMotorTestMode()) {
if (blackboxState==BLACKBOX_STATE_STOPPED)
if (blackboxState==BLACKBOX_STATE_STOPPED) {
startInTestMode();
}
} else {
if (blackboxState!=BLACKBOX_STATE_STOPPED)
if (blackboxState!=BLACKBOX_STATE_STOPPED) {
stopInTestMode();
}
}
break;
case BLACKBOX_MODE_ALWAYS_ON:
if (blackboxState==BLACKBOX_STATE_STOPPED) {
startInTestMode();
}
break;
case BLACKBOX_MODE_NORMAL:
default:
break;
}
}
}