Merge pull request #4498 from mikeller/add_blackbox_always_on_option

Added option to have blackbox always on.

src/main/blackbox/blackbox.c

@@ -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;
         }
     }
 }

src/main/blackbox/blackbox.h

@@ -37,8 +37,8 @@ typedef enum BlackboxDevice {
 typedef struct blackboxConfig_s {
     uint16_t p_denom; // I-frame interval / P-frame interval
     uint8_t device;
-    uint8_t on_motor_test;
     uint8_t record_acc;
+    uint8_t mode;
 } blackboxConfig_t;
 
 PG_DECLARE(blackboxConfig_t, blackboxConfig);

src/main/fc/settings.c

@@ -162,6 +162,10 @@ static const char * const lookupTableGimbalMode[] = {
 static const char * const lookupTableBlackboxDevice[] = {
     "NONE", "SPIFLASH", "SDCARD", "SERIAL"
 };
+
+static const char * const lookupTableBlackboxMode[] = {
+    "NORMAL", "MOTOR_TEST", "ALWAYS"
+};
 #endif
 
 #ifdef SERIAL_RX
@@ -271,6 +275,7 @@ const lookupTableEntry_t lookupTables[] = {
 #endif
 #ifdef USE_BLACKBOX
     { lookupTableBlackboxDevice, sizeof(lookupTableBlackboxDevice) / sizeof(char *) },
+    { lookupTableBlackboxMode, sizeof(lookupTableBlackboxMode) / sizeof(char *) },
 #endif
     { lookupTableCurrentSensor, sizeof(lookupTableCurrentSensor) / sizeof(char *) },
     { lookupTableBatterySensor, sizeof(lookupTableBatterySensor) / sizeof(char *) },
@@ -410,8 +415,8 @@ const clivalue_t valueTable[] = {
 #ifdef USE_BLACKBOX
     { "blackbox_p_ratio",           VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, INT16_MAX }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, p_denom) },
     { "blackbox_device",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_DEVICE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, device) },
-    { "blackbox_on_motor_test",     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, on_motor_test) },
     { "blackbox_record_acc",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, record_acc) },
+    { "blackbox_mode",              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BLACKBOX_MODE }, PG_BLACKBOX_CONFIG, offsetof(blackboxConfig_t, mode) },
 #endif
 
 // PG_MOTOR_CONFIG

src/main/fc/settings.h

@@ -32,6 +32,7 @@ typedef enum {
 #endif
 #ifdef USE_BLACKBOX
     TABLE_BLACKBOX_DEVICE,
+    TABLE_BLACKBOX_MODE,
 #endif
     TABLE_CURRENT_METER,
     TABLE_VOLTAGE_METER,