From 8c41772584397f1baafd6ebedd3f216ca515652c Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Mon, 8 Dec 2014 22:06:57 +1300
Subject: [PATCH 01/24] Add Blackbox 0.1.0

---
 Makefile                               |     3 +-
 README.md                              |    86 +-
 obj/cleanflight_CC3D.bin               |   Bin 79948 -> 0 bytes
 obj/cleanflight_CC3D.hex               |  5002 ----------
 obj/cleanflight_CJMCU.hex              |  3927 --------
 obj/cleanflight_NAZE.hex               | 11460 ++++++++++++-----------
 src/main/blackbox/blackbox.c           |   756 ++
 src/main/blackbox/blackbox.h           |    36 +
 src/main/blackbox/blackbox_fielddefs.h |    54 +
 src/main/config/config.h               |     3 +-
 src/main/flight/flight.c               |    17 +
 src/main/flight/flight.h               |     2 +
 src/main/flight/mixer.c                |     2 +-
 src/main/io/serial.c                   |     8 +-
 src/main/io/serial.h                   |     9 +-
 src/main/io/serial_cli.c               |     3 +-
 src/main/main.c                        |     5 +
 src/main/mw.c                          |    26 +
 src/main/target/NAZE/target.h          |     1 +
 src/main/target/NAZE32PRO/target.h     |     1 +
 20 files changed, 6797 insertions(+), 14604 deletions(-)
 delete mode 100755 obj/cleanflight_CC3D.bin
 delete mode 100644 obj/cleanflight_CC3D.hex
 delete mode 100644 obj/cleanflight_CJMCU.hex
 create mode 100644 src/main/blackbox/blackbox.c
 create mode 100644 src/main/blackbox/blackbox.h
 create mode 100644 src/main/blackbox/blackbox_fielddefs.h

diff --git a/Makefile b/Makefile
index e2335be512..b05e838b2b 100644
--- a/Makefile
+++ b/Makefile
@@ -212,7 +212,8 @@ HIGHEND_SRC  = flight/autotune.c \
 		   telemetry/msp.c \
            telemetry/smartport.c \
 		   sensors/sonar.c \
-		   sensors/barometer.c
+		   sensors/barometer.c \
+		   blackbox/blackbox.c
 
 NAZE_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/accgyro_adxl345.c \
diff --git a/README.md b/README.md
index 21a3768cb3..9ddd494400 100644
--- a/README.md
+++ b/README.md
@@ -1,66 +1,54 @@
-# Cleanflight
+# Blackbox flight data recorder port for Cleanflight
 
-Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.
+![Rendered flight log frame](http://i.imgur.com/FBphB8c.jpg)
 
-This fork differs from baseflight in that it attempts to use modern software development practices which result in:
+WARNING - This firmware is experimental, and may cause your craft to suddenly fall out of the sky. This port to
+Cleanflight has only had 3 test flights! No warranty is offered: if your craft breaks, you get to keep both pieces.
 
-1. greater reliability through code robustness and automated testing. 
-2. easier maintainance through code cleanliness.
-3. easier to develop new features. 
-4. easier to re-use code though code de-coupling and modularisation.
+## Introduction
+This is a modified version of Cleanflight which adds a flight data recorder function ("Blackbox"). Flight data
+information is transmitted over the flight controller's serial port on every control loop iteration to an external
+logging device to be recorded.
 
-The MultiWii software, from which baseflight originated, violates many good software development best-practices. Hopefully this fork will go some way to address them. If you see any bad code in this fork please immediately raise an issue so it can be fixed, or better yet submit a pull request.
+After your flight, you can process the resulting logs on your computer to either turn them into CSV (comma-separated
+values) or render your flight log as a video.
 
-## Additional Features
+This is a port of my Blackbox feature for Baseflight, so please follow the instructions there for usage details (just
+use the Cleanflight firmware from this repository instead of the Baseflight firmware):
 
-Cleanflight also has additional features not found in baseflight.  Since the primary maintainer of baseflight also sells hardware there is no incentive for baseflight to support the target platforms and features that Cleanflight now provides.
+https://github.com/thenickdude/blackbox
 
-For a list of features, changes and some discussion please review the thread on MultiWii forums and consult the documenation.
+Instructions which are specific to Cleanflight are included here.
 
-http://www.multiwii.com/forum/viewtopic.php?f=23&t=5149
+## Installation of firmware
+Before installing the new firmware onto your Naze32, back up your configuration: Connect to your flight controller
+using the [Cleanflight Configurator][] , open up the CLI tab and enter "dump" into the box at the bottom and press enter.
+Copy all of the text that results and paste it into a text document somewhere for safe-keeping.
 
+Click the disconnect button, then on the main page choose the Firmware Flasher option. Tick the box for "Full Chip
+Erase" (warning, this will erase all your settings!). Click the "Load firmware (local)" button, and select the file `cleanflight_NAZE.hex`
+from the `obj/` directory. Click the "Flash Firmware" button and wait for it to complete.
 
-## Documentation
+Now you need to reload your configuration: Go to the CLI tab and paste in the dump that you saved earlier and press
+enter, it should execute and restore your settings.
 
-There is some documentation here: https://github.com/hydra/cleanflight/tree/master/docs 
+Before you leave the CLI tab, enable the Blackbox feature by typing in `feature BLACKBOX` and pressing enter. You also
+need to assign the Blackbox to one of [your serial ports][]. Because it requires a 115200 baud port, the best choice on the
+Naze32 to use is serial_port_1, which is the two-pin Tx/Rx header in the centre of the board.
 
-If what you need is not covered then refer to the baseflight documentation. If you still can't find what you need then visit the #cleanflight on the Freenode IRC network
+Use `set serial_port_1_scenario=10` to switch the port to Blackbox-only, or `set serial_port_1_scenario=11` to switch it
+to MSP, CLI, Blackbox and GPS Passthrough (probably the most useful configuration, since this is the port connected to
+USB and you'll still want to access the CLI over it).
 
-## IRC Support and Developers Channel
+Enter `save`. Your configuration should be saved and the flight controller will reboot. You're ready to go!
 
-There's a dedicated IRC channel here:
+If you ever need to disable the Blackbox (say, for example, to switch to using the serial port for an OSD instead), you
+can either reflash the stock firmware using the Configurator, or you can just turn off the Blackbox feature
+by entering `feature -BLACKBOX` on the CLI tab.
 
-irc://irc.freenode.net/#cleanflight
+[your serial ports]: https://github.com/cleanflight/cleanflight/blob/master/docs/Serial.md
+[Cleanflight Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
 
-If you are using windows and don't have an IRC client installed then take a look at HydraIRC - here: http://hydrairc.com/
+## License
 
-## Videos
-
-
-There is a dedicated Cleanflight youtube channel which has progress update videos, flight demonstrations, instrutions and other related videos.
-
-https://www.youtube.com/playlist?list=PL6H1fAj_XUNVBEcp8vbMH2DrllZAGWkt8
-
-Please subscribe and '+1' the videos if you find them useful.
-
-## Configuration Tool
-
-To configure Cleanflight you should use the Cleanlight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
-
-https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
-
-The source for it is here:
-
-https://github.com/hydra/cleanflight-configurator
-
-## Contributing
-
-Before making any contributions, take a note of the https://github.com/multiwii/baseflight/wiki/CodingStyle
-
-For this fork it is also advised to read about clean code, here are some useful links:
-
-* http://cleancoders.com/
-* http://en.wikipedia.org/wiki/SOLID_%28object-oriented_design%29
-* http://en.wikipedia.org/wiki/Code_smell
-* http://en.wikipedia.org/wiki/Code_refactoring
-* http://www.amazon.co.uk/Working-Effectively-Legacy-Robert-Martin/dp/0131177052
+This project is licensed under GPLv3.
\ No newline at end of file
diff --git a/obj/cleanflight_CC3D.bin b/obj/cleanflight_CC3D.bin
deleted file mode 100755
index 00521ab7c9b6b18fa7149aef3d0874bceab566a4..0000000000000000000000000000000000000000
GIT binary patch
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deleted file mode 100644
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diff --git a/obj/cleanflight_CJMCU.hex b/obj/cleanflight_CJMCU.hex
deleted file mode 100644
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--- a/obj/cleanflight_CJMCU.hex
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diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
new file mode 100644
index 0000000000..836205e4a7
--- /dev/null
+++ b/src/main/blackbox/blackbox.c
@@ -0,0 +1,756 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <string.h>
+#include <stdarg.h>
+
+#include "platform.h"
+#include "version.h"
+
+#include "common/maths.h"
+#include "common/axis.h"
+#include "common/color.h"
+
+#include "drivers/accgyro.h"
+#include "drivers/light_led.h"
+
+#include "drivers/gpio.h"
+#include "drivers/system.h"
+#include "drivers/serial.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+
+#include "common/printf.h"
+
+#include "flight/flight.h"
+#include "sensors/sensors.h"
+#include "sensors/boardalignment.h"
+#include "sensors/sonar.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/gyro.h"
+#include "sensors/battery.h"
+#include "io/beeper.h"
+#include "io/display.h"
+#include "io/escservo.h"
+#include "rx/rx.h"
+#include "io/rc_controls.h"
+#include "flight/mixer.h"
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/autotune.h"
+#include "flight/navigation.h"
+#include "io/gimbal.h"
+#include "io/gps.h"
+#include "io/ledstrip.h"
+#include "io/serial.h"
+#include "io/serial_cli.h"
+#include "io/serial_msp.h"
+#include "io/statusindicator.h"
+#include "rx/msp.h"
+#include "telemetry/telemetry.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#include "blackbox_fielddefs.h"
+#include "blackbox.h"
+
+#define BLACKBOX_BAUDRATE 115200
+#define BLACKBOX_INITIAL_PORT_MODE MODE_TX
+
+static const char blackboxHeader[] =
+	"H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
+	"H Blackbox version:1\n"
+	"H Data version:1\n";
+
+// Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+#define CONCAT_HELPER(x,y) x ## y
+#define CONCAT(x,y) CONCAT_HELPER(x, y)
+
+#define PREDICT(x) STR(CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x))
+#define ENCODING(x) STR(CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x))
+
+/* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
+static const char * const blackboxHeaderFields[] = {
+	"H Field I name:"
+		"loopIteration,time,"
+		"axisP[0],axisP[1],axisP[2],"
+		"axisI[0],axisI[1],axisI[2],"
+		"axisD[0],axisD[1],axisD[2],"
+		"rcCommand[0],rcCommand[1],rcCommand[2],rcCommand[3],"
+		"gyroData[0],gyroData[1],gyroData[2],"
+		"accSmooth[0],accSmooth[1],accSmooth[2],"
+		"motor[0],motor[1],motor[2],motor[3],"
+		"motor[4],motor[5],motor[6],motor[7]",
+
+	"H Field I signed:"
+		/* loopIteration, time: */
+		"0,0,"
+		/* PIDs: */
+		"1,1,1,1,1,1,1,1,1,"
+		/* rcCommand[0..2] */
+		"1,1,1,"
+		/* rcCommand[3] (Throttle): */
+		"0,"
+		/* gyroData[0..2]: */
+		"1,1,1,"
+		/* accSmooth[0..2]: */
+		"1,1,1,"
+		/* Motor[0..7]: */
+		"0,0,0,0,0,0,0,0",
+
+	"H Field I predictor:"
+		/* loopIteration, time: */
+		PREDICT(0) "," PREDICT(0) ","
+		/* PIDs: */
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		/* rcCommand[0..2] */
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		/* rcCommand[3] (Throttle): */
+		PREDICT(MINTHROTTLE) ","
+		/* gyroData[0..2]: */
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		/* accSmooth[0..2]: */
+		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+		/* Motor[0]: */
+		PREDICT(MINTHROTTLE) ","
+		/* Motor[1..7]: */
+		PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
+		PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
+		PREDICT(MOTOR_0),
+
+     "H Field I encoding:"
+		/* loopIteration, time: */
+		ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) ","
+		/* PIDs: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* rcCommand[0..2] */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* rcCommand[3] (Throttle): */
+		ENCODING(UNSIGNED_VB) ","
+		/* gyroData[0..2]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* accSmooth[0..2]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* Motor[0]: */
+		ENCODING(UNSIGNED_VB) ","
+		/* Motor[1..7]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB),
+
+	//Motors and gyros predict an average of the last two measurements (to reduce the impact of noise):
+	"H Field P predictor:"
+		/* loopIteration, time: */
+		PREDICT(INC) "," PREDICT(STRAIGHT_LINE) ","
+		/* PIDs: */
+		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+		/* rcCommand[0..2] */
+		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+		/* rcCommand[3] (Throttle): */
+		PREDICT(PREVIOUS) ","
+		/* gyroData[0..2]: */
+		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+		/* accSmooth[0..2]: */
+		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+		/* Motor[0]: */
+		PREDICT(AVERAGE_2) ","
+		/* Motor[1..7]: */
+		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+		PREDICT(AVERAGE_2),
+
+	/* RC fields are encoded together as a group, everything else is signed since they're diffs: */
+    "H Field P encoding:"
+		/* loopIteration, time: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
+		/* PIDs: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* rcCommand[0..3] */
+		ENCODING(TAG8_4S16) "," ENCODING(TAG8_4S16) ","  ENCODING(TAG8_4S16) ","
+		ENCODING(TAG8_4S16) ","
+		/* gyroData[0..2]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* accSmooth[0..2]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		/* Motor[0]: */
+		ENCODING(SIGNED_VB) ","
+		/* Motor[1..7]: */
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(SIGNED_VB)
+};
+
+static const char blackboxGpsHeader[] =
+	"H Field G name:"
+		"GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed\n"
+	"H Field G signed:"
+		"0,1,1,0,0\n"
+	"H Field G predictor:"
+		PREDICT(0) "," PREDICT(HOME_COORD) "," PREDICT(HOME_COORD) "," PREDICT(0) "," PREDICT(0) "\n"
+	"H Field G encoding:"
+		ENCODING(UNSIGNED_VB) "," ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
+		ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) "\n"
+
+	"H Field H name:"
+		"GPS_home[0],GPS_home[1]\n"
+	"H Field H signed:"
+		"1,1\n"
+	"H Field H predictor:"
+		PREDICT(0) "," PREDICT(0) "\n"
+	"H Field H encoding:"
+		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) "\n";
+
+typedef enum BlackboxState {
+	BLACKBOX_STATE_DISABLED = 0,
+	BLACKBOX_STATE_STOPPED,
+	BLACKBOX_STATE_SEND_HEADER,
+	BLACKBOX_STATE_SEND_FIELDINFO,
+	BLACKBOX_STATE_SEND_GPS_HEADERS,
+	BLACKBOX_STATE_SEND_SYSINFO,
+	BLACKBOX_STATE_RUNNING
+} BlackboxState;
+
+typedef struct gpsState_t {
+	int32_t GPS_home[2], GPS_coord[2];
+	uint8_t GPS_numSat;
+} gpsState_t;
+
+//From mixer.c:
+extern uint8_t motorCount;
+
+//From mw.c:
+extern uint32_t currentTime;
+
+static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
+static uint32_t startTime;
+static unsigned int headerXmitIndex;
+static uint32_t blackboxIteration;
+
+static serialPort_t *blackboxPort;
+static portMode_t previousPortMode;
+static uint32_t previousBaudRate;
+
+static gpsState_t gpsHistory;
+
+// Keep a history of length 2, plus a buffer for MW to store the new values into
+static blackbox_values_t blackboxHistoryRing[3];
+
+// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
+static blackbox_values_t* blackboxHistory[3];
+
+
+static void blackboxWrite(uint8_t value)
+{
+	serialWrite(blackboxPort, value);
+}
+
+static void _putc(void *p, char c)
+{
+    (void)p;
+    serialWrite(blackboxPort, c);
+}
+
+//printf() to the blackbox serial port with no blocking shenanigans (so it's caller's responsibility to not write too fast!)
+static void blackboxPrintf(char *fmt, ...)
+{
+    va_list va;
+    va_start(va, fmt);
+    tfp_format(NULL, _putc, fmt, va);
+    va_end(va);
+}
+
+/**
+ * Write an unsigned integer to the blackbox serial port using variable byte encoding.
+ */
+static void writeUnsignedVB(uint32_t value)
+{
+	//While this isn't the final byte (we can only write 7 bits at a time)
+	while (value > 127) {
+		blackboxWrite((uint8_t) (value | 0x80)); // Set the high bit to mean "more bytes follow"
+		value >>= 7;
+	}
+	blackboxWrite(value);
+}
+
+/**
+ * Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding.
+ */
+static void writeSignedVB(int32_t value)
+{
+	//ZigZag encode to make the value always positive
+	writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
+}
+
+#define FIELD_ZERO  0
+#define FIELD_4BIT  1
+#define FIELD_8BIT  2
+#define FIELD_16BIT 3
+
+/**
+ * Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
+ */
+static void writeTag8_4S16(int32_t *values) {
+	uint8_t selector;
+	int x;
+
+	/*
+	 * 4-bit fields can only be combined with their paired neighbor (there are two pairs), so choose a
+	 * larger encoding if that's not possible.
+	 */
+	const uint8_t rcSelectorCleanup[16] = {
+	//          Output selectors     <- Input selectors
+		FIELD_ZERO << 2 | FIELD_ZERO,   // zero, zero
+		FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 4-bit
+		FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 8-bit
+		FIELD_ZERO << 2 | FIELD_16BIT,  // zero, 16-bit
+		FIELD_8BIT << 2 | FIELD_ZERO,   // 4-bit, zero
+		FIELD_4BIT << 2 | FIELD_4BIT,   // 4-bit, 4-bit
+		FIELD_8BIT << 2 | FIELD_8BIT,   // 4-bit, 8-bit
+		FIELD_8BIT << 2 | FIELD_16BIT,  // 4-bit, 16-bit
+		FIELD_8BIT << 2 | FIELD_ZERO,   // 8-bit, zero
+		FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 4-bit
+		FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 8-bit
+		FIELD_8BIT << 2 | FIELD_16BIT,  // 8-bit, 16-bit
+		FIELD_16BIT << 2 | FIELD_ZERO,  // 16-bit, zero
+		FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 4-bit
+		FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 8-bit
+		FIELD_16BIT << 2 | FIELD_16BIT, // 16-bit, 16-bit
+	};
+
+	selector = 0;
+	//Encode in reverse order so the first field is in the low bits:
+	for (x = 3; x >= 0; x--) {
+		selector <<= 2;
+
+		if (values[x] == 0)
+			selector |= FIELD_ZERO;
+		else if (values[x] <= 7 && values[x] >= -8)
+			selector |= FIELD_4BIT;
+		else if (values[x] <= 127 && values[x] >= -128)
+			selector |= FIELD_8BIT;
+		else
+			selector |= FIELD_16BIT;
+	}
+
+	selector = rcSelectorCleanup[selector & 0x0F] | (rcSelectorCleanup[selector >> 4] << 4);
+
+	blackboxWrite(selector);
+
+	for (x = 0; x < 4; x++, selector >>= 2) {
+		switch (selector & 0x03) {
+			case FIELD_4BIT:
+				blackboxWrite((values[x] & 0x0F) | (values[x + 1] << 4));
+
+				//We write two selector fields:
+				x++;
+				selector >>= 2;
+			break;
+			case FIELD_8BIT:
+				blackboxWrite(values[x]);
+			break;
+			case FIELD_16BIT:
+				blackboxWrite(values[x]);
+				blackboxWrite(values[x] >> 8);
+			break;
+		}
+	}
+}
+
+static void writeIntraframe(void)
+{
+	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
+	int x;
+
+	blackboxWrite('I');
+
+	writeUnsignedVB(blackboxIteration);
+	writeUnsignedVB(blackboxCurrent->time);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisP[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisI[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisD[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->rcCommand[x]);
+
+	writeUnsignedVB(blackboxCurrent->rcCommand[3] - masterConfig.escAndServoConfig.minthrottle); //Throttle lies in range [minthrottle..maxthrottle]
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->gyroData[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->accSmooth[x]);
+
+	//Motors can be below minthrottle when disarmed, but that doesn't happen much
+	writeUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
+
+	//Motors tend to be similar to each other
+	for (x = 1; x < motorCount; x++)
+		writeSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
+
+	//Rotate our history buffers:
+
+	//The current state becomes the new "before" state
+	blackboxHistory[1] = blackboxHistory[0];
+	//And since we have no other history, we also use it for the "before, before" state
+	blackboxHistory[2] = blackboxHistory[0];
+	//And advance the current state over to a blank space ready to be filled
+	blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+}
+
+static void writeInterframe(void)
+{
+	int x;
+	int32_t rcDeltas[4];
+
+	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
+	blackbox_values_t *blackboxLast = blackboxHistory[1];
+
+	blackboxWrite('P');
+
+	//No need to store iteration count since its delta is always 1
+
+	/*
+	 * Since the difference between the difference between successive times will be nearly zero, use
+	 * second-order differences.
+	 */
+	writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisI[x] - blackboxLast->axisI[x]);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
+
+	for (x = 0; x < 4; x++)
+		rcDeltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+
+	/*
+	 * RC tends to stay the same or very small for many frames at a time, so use an encoding that
+	 * can pack multiple values per byte:
+	 */
+	writeTag8_4S16(rcDeltas);
+
+	//Since gyros, accs and motors are noisy, base the prediction on the average of the history:
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
+
+	for (x = 0; x < 3; x++)
+		writeSignedVB(blackboxHistory[0]->accSmooth[x] - (blackboxHistory[1]->accSmooth[x] + blackboxHistory[2]->accSmooth[x]) / 2);
+
+	for (x = 0; x < motorCount; x++)
+		writeSignedVB(blackboxHistory[0]->motor[x] - (blackboxHistory[1]->motor[x] + blackboxHistory[2]->motor[x]) / 2);
+
+	//Rotate our history buffers
+	blackboxHistory[2] = blackboxHistory[1];
+	blackboxHistory[1] = blackboxHistory[0];
+	blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+}
+
+static void configureBlackboxPort(void)
+{
+	blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
+	if (blackboxPort) {
+		previousPortMode = blackboxPort->mode;
+		previousBaudRate = blackboxPort->baudRate;
+
+		serialSetBaudRate(blackboxPort, BLACKBOX_BAUDRATE);
+		serialSetMode(blackboxPort, BLACKBOX_INITIAL_PORT_MODE);
+		beginSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
+	} else {
+		blackboxPort = openSerialPort(FUNCTION_BLACKBOX, NULL, BLACKBOX_BAUDRATE, BLACKBOX_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
+
+		if (blackboxPort) {
+			previousPortMode = blackboxPort->mode;
+			previousBaudRate = blackboxPort->baudRate;
+		}
+	}
+}
+
+static void releaseBlackboxPort(void)
+{
+    serialSetMode(blackboxPort, previousPortMode);
+    serialSetBaudRate(blackboxPort, previousBaudRate);
+
+    endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
+}
+
+void startBlackbox(void)
+{
+	if (blackboxState == BLACKBOX_STATE_STOPPED) {
+		configureBlackboxPort();
+
+		if (!blackboxPort) {
+			blackboxState = BLACKBOX_STATE_DISABLED;
+			return;
+		}
+
+		startTime = millis();
+		headerXmitIndex = 0;
+		blackboxIteration = 0;
+		blackboxState = BLACKBOX_STATE_SEND_HEADER;
+
+		memset(&gpsHistory, 0, sizeof(gpsHistory));
+
+		//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
+
+		blackboxHistory[0] = &blackboxHistoryRing[0];
+		blackboxHistory[1] = &blackboxHistoryRing[1];
+		blackboxHistory[2] = &blackboxHistoryRing[2];
+	}
+}
+
+void finishBlackbox(void)
+{
+	if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
+		blackboxState = BLACKBOX_STATE_STOPPED;
+		
+		releaseBlackboxPort();
+	}
+}
+
+static void writeGPSHomeFrame()
+{
+	blackboxWrite('H');
+
+	writeSignedVB(GPS_home[0]);
+	writeSignedVB(GPS_home[1]);
+	//TODO it'd be great if we could grab the GPS current time and write that too
+
+	gpsHistory.GPS_home[0] = GPS_home[0];
+	gpsHistory.GPS_home[1] = GPS_home[1];
+}
+
+static void writeGPSFrame()
+{
+	blackboxWrite('G');
+
+	writeUnsignedVB(GPS_numSat);
+	writeSignedVB(GPS_coord[0] - gpsHistory.GPS_home[0]);
+	writeSignedVB(GPS_coord[1] - gpsHistory.GPS_home[1]);
+	writeUnsignedVB(GPS_altitude);
+	writeUnsignedVB(GPS_speed);
+
+	gpsHistory.GPS_numSat = GPS_numSat;
+	gpsHistory.GPS_coord[0] = GPS_coord[0];
+	gpsHistory.GPS_coord[1] = GPS_coord[1];
+}
+
+void handleBlackbox(void)
+{
+	int i;
+	blackbox_values_t *blackboxCurrent;
+	const int SERIAL_CHUNK_SIZE = 16;
+	static int charXmitIndex = 0;
+	int motorsToRemove, endIndex;
+	union floatConvert_t {
+		float f;
+		uint32_t u;
+	} floatConvert;
+
+	switch (blackboxState) {
+		case BLACKBOX_STATE_SEND_HEADER:
+			/*
+			 * Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
+			 * buffer.
+			 */
+			if (millis() > startTime + 100) {
+				for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
+					blackboxWrite(blackboxHeader[headerXmitIndex]);
+
+				if (blackboxHeader[headerXmitIndex] == '\0') {
+					blackboxState = BLACKBOX_STATE_SEND_FIELDINFO;
+					headerXmitIndex = 0;
+					charXmitIndex = 0;
+				}
+			}
+		break;
+		case BLACKBOX_STATE_SEND_FIELDINFO:
+			/*
+			 * Once again, chunking up the data so we don't exceed our datarate. This time we're removing the excess field defs
+			 * for motors we don't have.
+			 */
+			motorsToRemove = 8 - motorCount;
+
+			if (headerXmitIndex < sizeof(blackboxHeaderFields) / sizeof(blackboxHeaderFields[0])){
+				endIndex = strlen(blackboxHeaderFields[headerXmitIndex]) - (headerXmitIndex == 0 ? strlen(",motor[x]") : strlen(",x")) * motorsToRemove;
+
+				for (i = charXmitIndex; i < charXmitIndex + SERIAL_CHUNK_SIZE && i < endIndex; i++)
+					blackboxWrite(blackboxHeaderFields[headerXmitIndex][i]);
+
+				if (i == endIndex) {
+					blackboxWrite('\n');
+					headerXmitIndex++;
+					charXmitIndex = 0;
+				} else {
+					charXmitIndex = i;
+				}
+			} else {
+				if (feature(FEATURE_GPS)) {
+					blackboxState = BLACKBOX_STATE_SEND_GPS_HEADERS;
+				} else {
+					blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
+				}
+				headerXmitIndex = 0;
+			}
+		break;
+		case BLACKBOX_STATE_SEND_GPS_HEADERS:
+			for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxGpsHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
+				blackboxWrite(blackboxGpsHeader[headerXmitIndex]);
+
+			if (blackboxGpsHeader[headerXmitIndex] == '\0') {
+				blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
+				headerXmitIndex = 0;
+			}
+		break;
+		case BLACKBOX_STATE_SEND_SYSINFO:
+
+			switch (headerXmitIndex) {
+				case 0:
+					blackboxPrintf("H Firmware type:Cleanflight\n");
+				break;
+				case 1:
+					blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
+				break;
+				case 2:
+					blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
+				break;
+				case 3:
+					blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
+				break;
+				case 4:
+					blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
+				break;
+				case 5:
+					blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
+				break;
+				case 6:
+					floatConvert.f = gyro.scale;
+					blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
+				break;
+				case 7:
+					blackboxPrintf("H acc_1G:%u\n", acc_1G);
+				break;
+				default:
+					blackboxState = BLACKBOX_STATE_RUNNING;
+			}
+
+			headerXmitIndex++;
+		break;
+		case BLACKBOX_STATE_RUNNING:
+        	// Copy current system values into the blackbox to be written out
+			blackboxCurrent = blackboxHistory[0];
+
+        	blackboxCurrent->time = currentTime;
+
+        	for (i = 0; i < motorCount; i++)
+        		blackboxCurrent->motor[i] = motor[i];
+
+        	for (i = 0; i < 3; i++)
+        		blackboxCurrent->axisP[i] = axisP[i];
+        	for (i = 0; i < 3; i++)
+        		blackboxCurrent->axisI[i] = axisI[i];
+        	for (i = 0; i < 3; i++)
+        		blackboxCurrent->axisD[i] = axisD[i];
+
+        	for (i = 0; i < 4; i++)
+        		blackboxCurrent->rcCommand[i] = rcCommand[i];
+
+        	for (i = 0; i < 3; i++)
+        		blackboxCurrent->gyroData[i] = gyroData[i];
+
+        	for (i = 0; i < 3; i++)
+        		blackboxCurrent->accSmooth[i] = accSmooth[i];
+
+			// Write a keyframe every 32 frames so we can resynchronise upon missing frames
+			int blackboxIntercycleIndex = blackboxIteration % 32;
+			int blackboxIntracycleIndex = blackboxIteration / 32;
+
+			if (blackboxIntercycleIndex == 0)
+				writeIntraframe();
+			else {
+				writeInterframe();
+
+				if (feature(FEATURE_GPS)) {
+					/*
+					 * If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
+					 * GPS home position.
+					 *
+					 * We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
+					 * still be interpreted correctly.
+					 */
+					if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
+						|| (blackboxIntercycleIndex == 15 && blackboxIntracycleIndex % 128 == 0)) {
+
+						writeGPSHomeFrame();
+						writeGPSFrame();
+					} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
+							|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
+						//We could check for velocity changes as well but I doubt it changes independent of position
+						writeGPSFrame();
+					}
+				}
+			}
+
+			blackboxIteration++;
+		break;
+		default:
+		break;
+	}
+}
+
+bool canUseBlackboxWithCurrentConfiguration(void)
+{
+    if (!feature(FEATURE_BLACKBOX))
+        return false;
+
+    return true;
+}
+
+void initBlackbox(void)
+{
+	if (canUseBlackboxWithCurrentConfiguration())
+		blackboxState = BLACKBOX_STATE_STOPPED;
+	else
+		blackboxState = BLACKBOX_STATE_DISABLED;
+}
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
new file mode 100644
index 0000000000..19aeabbdc6
--- /dev/null
+++ b/src/main/blackbox/blackbox.h
@@ -0,0 +1,36 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+typedef struct blackbox_values_t {
+	uint32_t time;
+
+	int32_t axisP[3], axisI[3], axisD[3];
+
+	int16_t rcCommand[4];
+	int16_t gyroData[3];
+	int16_t accSmooth[3];
+	int16_t motor[8];
+} blackbox_values_t;
+
+void initBlackbox(void);
+void handleBlackbox(void);
+void startBlackbox(void);
+void finishBlackbox(void);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
new file mode 100644
index 0000000000..e89b152d1e
--- /dev/null
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -0,0 +1,54 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+//No prediction:
+#define FLIGHT_LOG_FIELD_PREDICTOR_0              0
+
+//Predict that the field is the same as last frame:
+#define FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS       1
+
+//Predict that the slope between this field and the previous item is the same as that between the past two history items:
+#define FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE  2
+
+//Predict that this field is the same as the average of the last two history items:
+#define FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2      3
+
+//Predict that this field is minthrottle
+#define FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE    4
+
+//Predict that this field is the same as motor 0
+#define FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0        5
+
+//This field always increments
+#define FLIGHT_LOG_FIELD_PREDICTOR_INC            6
+
+//Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
+#define FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     7
+
+
+#define FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       0
+#define FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     1
+#define FLIGHT_LOG_FIELD_ENCODING_U8              2
+#define FLIGHT_LOG_FIELD_ENCODING_U16             3
+#define FLIGHT_LOG_FIELD_ENCODING_U32             4
+#define FLIGHT_LOG_FIELD_ENCODING_S8              5
+#define FLIGHT_LOG_FIELD_ENCODING_S16             6
+#define FLIGHT_LOG_FIELD_ENCODING_S32             7
+#define FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       8
+#define FLIGHT_LOG_FIELD_ENCODING_NULL            9
diff --git a/src/main/config/config.h b/src/main/config/config.h
index bbbc9e7949..351fc1e84b 100644
--- a/src/main/config/config.h
+++ b/src/main/config/config.h
@@ -40,7 +40,8 @@ typedef enum {
     FEATURE_RSSI_ADC = 1 << 15,
     FEATURE_LED_STRIP = 1 << 16,
     FEATURE_DISPLAY = 1 << 17,
-    FEATURE_ONESHOT125 = 1 << 18
+    FEATURE_ONESHOT125 = 1 << 18,
+    FEATURE_BLACKBOX = 1 << 19
 } features_e;
 
 bool feature(uint32_t mask);
diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 6d7891d7cc..ca1812ca9c 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -42,6 +42,11 @@ extern uint16_t cycleTime;
 
 int16_t heading, magHold;
 int16_t axisPID[3];
+
+#ifdef BLACKBOX
+int32_t axisP[3], axisI[3], axisD[3];
+#endif
+
 uint8_t dynP8[3], dynI8[3], dynD8[3];
 
 static int32_t errorGyroI[3] = { 0, 0, 0 };
@@ -243,6 +248,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         delta1[axis] = delta;
         DTerm = (deltaSum * dynD8[axis]) / 32;
         axisPID[axis] = PTerm + ITerm - DTerm;
+
+#ifdef BLACKBOX
+		axisP[axis] = PTerm;
+		axisI[axis] = ITerm;
+		axisD[axis] = -DTerm;
+#endif
     }
 }
 
@@ -326,6 +337,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
 
         // -----calculate total PID output
         axisPID[axis] = PTerm + ITerm + DTerm;
+
+#ifdef BLACKBOX
+		axisP[axis] = PTerm;
+		axisI[axis] = ITerm;
+		axisD[axis] = DTerm;
+#endif
     }
 }
 
diff --git a/src/main/flight/flight.h b/src/main/flight/flight.h
index a6fadf55f6..ebccf21906 100644
--- a/src/main/flight/flight.h
+++ b/src/main/flight/flight.h
@@ -127,6 +127,8 @@ extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AX
 extern int32_t accSum[XYZ_AXIS_COUNT];
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 
+extern int32_t axisP[3], axisI[3], axisD[3];
+
 extern int16_t heading, magHold;
 
 extern int32_t AltHold;
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 46e50600ec..819c91e264 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -42,7 +42,7 @@
 
 #define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
 
-static uint8_t motorCount = 0;
+uint8_t motorCount = 0;
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };
diff --git a/src/main/io/serial.c b/src/main/io/serial.c
index c37cd432be..24eb67cb6b 100644
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@@ -62,7 +62,10 @@ const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUN
     SCENARIO_CLI_ONLY,
     SCENARIO_GPS_PASSTHROUGH_ONLY,
     SCENARIO_MSP_ONLY,
-    SCENARIO_SMARTPORT_TELEMETRY_ONLY
+    SCENARIO_SMARTPORT_TELEMETRY_ONLY,
+
+    SCENARIO_BLACKBOX_ONLY,
+    SCENARIO_MSP_CLI_BLACKBOX_GPS_PASTHROUGH
 };
 
 static serialConfig_t *serialConfig;
@@ -132,7 +135,8 @@ const functionConstraint_t functionConstraints[] = {
         { FUNCTION_MSP,                 9600,  115200, NO_AUTOBAUD, SPF_NONE },
         { FUNCTION_SERIAL_RX,           9600,  115200, NO_AUTOBAUD, SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_CALLBACK },
         { FUNCTION_TELEMETRY,           9600,  19200,  NO_AUTOBAUD, SPF_NONE },
-        { FUNCTION_SMARTPORT_TELEMETRY, 57600, 57600,  NO_AUTOBAUD, SPF_SUPPORTS_BIDIR_MODE }
+        { FUNCTION_SMARTPORT_TELEMETRY, 57600, 57600,  NO_AUTOBAUD, SPF_SUPPORTS_BIDIR_MODE },
+        { FUNCTION_BLACKBOX,            115200,115200, NO_AUTOBAUD, SPF_NONE }
 };
 
 #define FUNCTION_CONSTRAINT_COUNT (sizeof(functionConstraints) / sizeof(functionConstraint_t))
diff --git a/src/main/io/serial.h b/src/main/io/serial.h
index 043d2c486e..4051e9fa56 100644
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@@ -25,7 +25,8 @@ typedef enum {
     FUNCTION_SMARTPORT_TELEMETRY = (1 << 3),
     FUNCTION_SERIAL_RX           = (1 << 4),
     FUNCTION_GPS                 = (1 << 5),
-    FUNCTION_GPS_PASSTHROUGH     = (1 << 6)
+    FUNCTION_GPS_PASSTHROUGH     = (1 << 6),
+    FUNCTION_BLACKBOX            = (1 << 7)
 } serialPortFunction_e;
 
 typedef enum {
@@ -52,10 +53,12 @@ typedef enum {
     SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH   = FUNCTION_MSP | FUNCTION_CLI | FUNCTION_TELEMETRY | FUNCTION_SMARTPORT_TELEMETRY | FUNCTION_GPS_PASSTHROUGH,
     SCENARIO_SERIAL_RX_ONLY                     = FUNCTION_SERIAL_RX,
     SCENARIO_TELEMETRY_ONLY                     = FUNCTION_TELEMETRY,
-    SCENARIO_SMARTPORT_TELEMETRY_ONLY           = FUNCTION_SMARTPORT_TELEMETRY
+    SCENARIO_SMARTPORT_TELEMETRY_ONLY           = FUNCTION_SMARTPORT_TELEMETRY,
+    SCENARIO_BLACKBOX_ONLY                      = FUNCTION_BLACKBOX,
+    SCENARIO_MSP_CLI_BLACKBOX_GPS_PASTHROUGH    = FUNCTION_CLI | FUNCTION_MSP | FUNCTION_BLACKBOX | FUNCTION_GPS_PASSTHROUGH
 } serialPortFunctionScenario_e;
 
-#define SERIAL_PORT_SCENARIO_COUNT 10
+#define SERIAL_PORT_SCENARIO_COUNT 12
 #define SERIAL_PORT_SCENARIO_MAX (SERIAL_PORT_SCENARIO_COUNT - 1)
 extern const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUNT];
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 97a85e9a20..e18370e0c0 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -123,7 +123,8 @@ static const char * const featureNames[] = {
     "RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
     "SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
-    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125", NULL
+    "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
+    "BLACKBOX", NULL
 };
 
 // sync this with sensors_e
diff --git a/src/main/main.c b/src/main/main.c
index c772305ff0..09d35a609b 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -64,6 +64,7 @@
 #include "sensors/acceleration.h"
 #include "sensors/gyro.h"
 #include "telemetry/telemetry.h"
+#include "blackbox/blackbox.h"
 #include "sensors/battery.h"
 #include "sensors/boardalignment.h"
 #include "config/runtime_config.h"
@@ -323,6 +324,10 @@ void init(void)
         initTelemetry();
 #endif
 
+#ifdef BLACKBOX
+    initBlackbox();
+#endif
+
     previousTime = micros();
 
     if (masterConfig.mixerConfiguration == MULTITYPE_GIMBAL) {
diff --git a/src/main/mw.c b/src/main/mw.c
index c582a3c40b..f181dc314f 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -65,6 +65,7 @@
 #include "io/statusindicator.h"
 #include "rx/msp.h"
 #include "telemetry/telemetry.h"
+#include "blackbox/blackbox.h"
 
 #include "config/runtime_config.h"
 #include "config/config.h"
@@ -303,6 +304,15 @@ void mwDisarm(void)
             }
         }
 #endif
+
+#ifdef BLACKBOX
+        if (feature(FEATURE_BLACKBOX)) {
+        	finishBlackbox();
+            if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
+                mspAllocateSerialPorts(&masterConfig.serialConfig);
+            }
+        }
+#endif
     }
 }
 
@@ -324,6 +334,16 @@ void mwArm(void)
                 }
             }
 #endif
+
+#ifdef BLACKBOX
+            if (feature(FEATURE_BLACKBOX)) {
+                serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+                if (sharedBlackboxAndMspPort) {
+                    mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
+                }
+            	startBlackbox();
+            }
+#endif
             return;
         }
     }
@@ -681,6 +701,12 @@ void loop(void)
         mixTable();
         writeServos();
         writeMotors();
+
+#ifdef BLACKBOX
+	    if (!cliMode && feature(FEATURE_BLACKBOX)) {
+	        handleBlackbox();
+	    }
+#endif
     }
 
 #ifdef TELEMETRY
diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h
index 8fc63bb802..4c3ab677c2 100644
--- a/src/main/target/NAZE/target.h
+++ b/src/main/target/NAZE/target.h
@@ -109,6 +109,7 @@
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM3
 
+#define BLACKBOX
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
diff --git a/src/main/target/NAZE32PRO/target.h b/src/main/target/NAZE32PRO/target.h
index 12ae41b82f..7ff38be458 100644
--- a/src/main/target/NAZE32PRO/target.h
+++ b/src/main/target/NAZE32PRO/target.h
@@ -43,6 +43,7 @@
 #define SENSORS_SET (SENSOR_ACC)
 
 #define GPS
+#define BLACKBOX
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE

From e492aa6a3961dded50ffa44a96718ab66e3c660d Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Tue, 9 Dec 2014 17:27:56 +1300
Subject: [PATCH 02/24] Add (untested) support for recording Tricopter tail
 servo position

---
 obj/cleanflight_NAZE.hex               | 11766 ++++++++++++-----------
 src/main/blackbox/blackbox.c           |   110 +-
 src/main/blackbox/blackbox.h           |     3 +-
 src/main/blackbox/blackbox_fielddefs.h |     3 +
 4 files changed, 5977 insertions(+), 5905 deletions(-)

diff --git a/obj/cleanflight_NAZE.hex b/obj/cleanflight_NAZE.hex
index d86d63f7e5..ac1771b1cb 100644
--- a/obj/cleanflight_NAZE.hex
+++ b/obj/cleanflight_NAZE.hex
@@ -1,24 +1,24 @@
 :020000040800F2
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diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 836205e4a7..a6b059cd56 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -212,6 +212,29 @@ static const char * const blackboxHeaderFields[] = {
 		ENCODING(SIGNED_VB)
 };
 
+/**
+ * Additional fields to tack on to those above for tricopters (to record tail servo position)
+ */
+static const char * const blackboxAdditionalFieldsTricopter[] = {
+	//Field I name
+		"servo[5]",
+
+	//Field I signed
+		"0",
+
+	//Field I predictor
+		PREDICT(1500),
+
+    //Field I encoding:
+		ENCODING(SIGNED_VB),
+
+	//Field P predictor:
+		PREDICT(PREVIOUS),
+
+    //Field P encoding:
+		ENCODING(SIGNED_VB)
+};
+
 static const char blackboxGpsHeader[] =
 	"H Field G name:"
 		"GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed\n"
@@ -270,6 +293,10 @@ static blackbox_values_t blackboxHistoryRing[3];
 // These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
 static blackbox_values_t* blackboxHistory[3];
 
+static int isTricopter()
+{
+	return masterConfig.mixerConfiguration == MULTITYPE_TRI;
+}
 
 static void blackboxWrite(uint8_t value)
 {
@@ -425,6 +452,9 @@ static void writeIntraframe(void)
 	for (x = 1; x < motorCount; x++)
 		writeSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
 
+	if (isTricopter())
+		writeSignedVB(blackboxHistory[0]->servo[5] - 1500);
+
 	//Rotate our history buffers:
 
 	//The current state becomes the new "before" state
@@ -481,6 +511,9 @@ static void writeInterframe(void)
 	for (x = 0; x < motorCount; x++)
 		writeSignedVB(blackboxHistory[0]->motor[x] - (blackboxHistory[1]->motor[x] + blackboxHistory[2]->motor[x]) / 2);
 
+	if (isTricopter())
+		writeSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
+
 	//Rotate our history buffers
 	blackboxHistory[2] = blackboxHistory[1];
 	blackboxHistory[1] = blackboxHistory[0];
@@ -576,10 +609,43 @@ static void writeGPSFrame()
 	gpsHistory.GPS_coord[1] = GPS_coord[1];
 }
 
+/**
+ * Fill the current state of the blackbox using values read from the flight controller
+ */
+static void loadBlackboxState(void)
+{
+	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
+	int i;
+
+	blackboxCurrent->time = currentTime;
+
+	for (i = 0; i < 3; i++)
+		blackboxCurrent->axisP[i] = axisP[i];
+	for (i = 0; i < 3; i++)
+		blackboxCurrent->axisI[i] = axisI[i];
+	for (i = 0; i < 3; i++)
+		blackboxCurrent->axisD[i] = axisD[i];
+
+	for (i = 0; i < 4; i++)
+		blackboxCurrent->rcCommand[i] = rcCommand[i];
+
+	for (i = 0; i < 3; i++)
+		blackboxCurrent->gyroData[i] = gyroData[i];
+
+	for (i = 0; i < 3; i++)
+		blackboxCurrent->accSmooth[i] = accSmooth[i];
+
+	for (i = 0; i < motorCount; i++)
+		blackboxCurrent->motor[i] = motor[i];
+
+	//Tail servo for tricopters
+	blackboxCurrent->servo[5] = servo[5];
+}
+
 void handleBlackbox(void)
 {
 	int i;
-	blackbox_values_t *blackboxCurrent;
+	const char *additionalHeader;
 	const int SERIAL_CHUNK_SIZE = 16;
 	static int charXmitIndex = 0;
 	int motorsToRemove, endIndex;
@@ -607,8 +673,10 @@ void handleBlackbox(void)
 		break;
 		case BLACKBOX_STATE_SEND_FIELDINFO:
 			/*
-			 * Once again, chunking up the data so we don't exceed our datarate. This time we're removing the excess field defs
-			 * for motors we don't have.
+			 * Send information about the fields we're recording to the log.
+			 *
+			 * Once again, we're chunking up the data so we don't exceed our datarate. This time we're trimming the
+			 * excess field defs off the end of the header for motors we don't have.
 			 */
 			motorsToRemove = 8 - motorCount;
 
@@ -618,7 +686,16 @@ void handleBlackbox(void)
 				for (i = charXmitIndex; i < charXmitIndex + SERIAL_CHUNK_SIZE && i < endIndex; i++)
 					blackboxWrite(blackboxHeaderFields[headerXmitIndex][i]);
 
+				// Did we complete this line?
 				if (i == endIndex) {
+					if (isTricopter()) {
+						//Add fields to the end for the tail servo
+						blackboxWrite(',');
+
+						for (additionalHeader = blackboxAdditionalFieldsTricopter[headerXmitIndex]; *additionalHeader; additionalHeader++)
+							blackboxWrite(*additionalHeader);
+					}
+
 					blackboxWrite('\n');
 					headerXmitIndex++;
 					charXmitIndex = 0;
@@ -626,6 +703,8 @@ void handleBlackbox(void)
 					charXmitIndex = i;
 				}
 			} else {
+				//Completed sending field information
+
 				if (feature(FEATURE_GPS)) {
 					blackboxState = BLACKBOX_STATE_SEND_GPS_HEADERS;
 				} else {
@@ -678,29 +757,8 @@ void handleBlackbox(void)
 			headerXmitIndex++;
 		break;
 		case BLACKBOX_STATE_RUNNING:
-        	// Copy current system values into the blackbox to be written out
-			blackboxCurrent = blackboxHistory[0];
-
-        	blackboxCurrent->time = currentTime;
-
-        	for (i = 0; i < motorCount; i++)
-        		blackboxCurrent->motor[i] = motor[i];
-
-        	for (i = 0; i < 3; i++)
-        		blackboxCurrent->axisP[i] = axisP[i];
-        	for (i = 0; i < 3; i++)
-        		blackboxCurrent->axisI[i] = axisI[i];
-        	for (i = 0; i < 3; i++)
-        		blackboxCurrent->axisD[i] = axisD[i];
-
-        	for (i = 0; i < 4; i++)
-        		blackboxCurrent->rcCommand[i] = rcCommand[i];
-
-        	for (i = 0; i < 3; i++)
-        		blackboxCurrent->gyroData[i] = gyroData[i];
-
-        	for (i = 0; i < 3; i++)
-        		blackboxCurrent->accSmooth[i] = accSmooth[i];
+        	// Copy current system values into the blackbox
+        	loadBlackboxState();
 
 			// Write a keyframe every 32 frames so we can resynchronise upon missing frames
 			int blackboxIntercycleIndex = blackboxIteration % 32;
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 19aeabbdc6..cd8f326c34 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -27,7 +27,8 @@ typedef struct blackbox_values_t {
 	int16_t rcCommand[4];
 	int16_t gyroData[3];
 	int16_t accSmooth[3];
-	int16_t motor[8];
+	int16_t motor[MAX_SUPPORTED_MOTORS];
+	int16_t servo[MAX_SUPPORTED_SERVOS];
 } blackbox_values_t;
 
 void initBlackbox(void);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index e89b152d1e..a38495b42e 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -41,6 +41,9 @@
 //Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
 #define FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     7
 
+//Predict 1500
+#define FLIGHT_LOG_FIELD_PREDICTOR_1500           8
+
 
 #define FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       0
 #define FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     1

From 5cc3ad3da78f8f644b2d761eefffa47387ccb38b Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Wed, 10 Dec 2014 15:35:36 +1300
Subject: [PATCH 03/24] New encoding for PID I terms which saves 2 bytes per
 frame

---
 src/main/blackbox/blackbox.c           | 169 ++++++++++++++++++++++---
 src/main/blackbox/blackbox_fielddefs.h |   7 +-
 2 files changed, 154 insertions(+), 22 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a6b059cd56..b5cd03eaf5 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -195,7 +195,7 @@ static const char * const blackboxHeaderFields[] = {
 		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
 		/* PIDs: */
 		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+		ENCODING(TAG2_3S32) "," ENCODING(TAG2_3S32) ","  ENCODING(TAG2_3S32) ","
 		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
 		/* rcCommand[0..3] */
 		ENCODING(TAG8_4S16) "," ENCODING(TAG8_4S16) ","  ENCODING(TAG8_4S16) ","
@@ -340,15 +340,134 @@ static void writeSignedVB(int32_t value)
 	writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
 }
 
-#define FIELD_ZERO  0
-#define FIELD_4BIT  1
-#define FIELD_8BIT  2
-#define FIELD_16BIT 3
+/**
+ * Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
+ */
+static void writeTag2_3S32(int32_t *values) {
+	static const int NUM_FIELDS = 3;
+
+	//Need to be enums rather than const ints if we want to switch on them (due to being C)
+	enum { BITS_2  = 0};
+	enum { BITS_4  = 1};
+	enum { BITS_6  = 2};
+	enum { BITS_32 = 3};
+
+	enum { BYTES_1  = 0};
+	enum { BYTES_2  = 1};
+	enum { BYTES_3  = 2};
+	enum { BYTES_4  = 3};
+
+	int x;
+	int selector = BITS_2, selector2;
+
+	/*
+	 * Find out how many bits the largest value requires to encode, and use it to choose one of the packing schemes
+	 * below:
+	 *
+	 * Selector possibilities
+	 *
+	 * 2 bits per field  ss11 2233,
+	 * 4 bits per field  ss00 1111 2222 3333
+	 * 6 bits per field  ss11 1111 0022 2222 0033 3333
+	 * 32 bits per field sstt tttt followed by fields of various byte counts
+	 */
+	for (x = 0; x < NUM_FIELDS; x++) {
+		//Require more than 6 bits?
+		if (values[x] >= 32 || values[x] < -32) {
+			selector = BITS_32;
+			break;
+		}
+
+		//Require more than 4 bits?
+		if (values[x] >= 8 || values[x] < -8) {
+			 if (selector < BITS_6)
+				 selector = BITS_6;
+		} else if (values[x] >= 2 || values[x] < -2) { //Require more than 2 bits?
+			if (selector < BITS_4)
+				selector = BITS_4;
+		}
+	}
+
+	switch (selector) {
+		case BITS_2:
+			blackboxWrite((selector << 6) | ((values[0] & 0x03) << 4) | ((values[1] & 0x03) << 2) | (values[2] & 0x03));
+		break;
+		case BITS_4:
+			blackboxWrite((selector << 6) | (values[0] & 0x0F));
+			blackboxWrite((values[1] << 4) | (values[2] & 0x0F));
+		break;
+		case BITS_6:
+			blackboxWrite((selector << 6) | (values[0] & 0x3F));
+			blackboxWrite((uint8_t)values[1]);
+			blackboxWrite((uint8_t)values[2]);
+		break;
+		case BITS_32:
+			/*
+			 * Do another round to compute a selector for each field, assuming that they are at least 8 bits each
+			 *
+			 * Selector2 field possibilities
+			 * 0 - 8 bits
+			 * 1 - 16 bits
+			 * 2 - 24 bits
+			 * 3 - 32 bits
+			 */
+			selector2 = 0;
+
+			//Encode in reverse order so the first field is in the low bits:
+			for (x = NUM_FIELDS - 1; x >= 0; x--) {
+				selector2 <<= 2;
+
+				if (values[x] < 128 && values[x] >= -128)
+					selector2 |= BYTES_1;
+				else if (values[x] < 32768 && values[x] >= -32768)
+					selector2 |= BYTES_2;
+				else if (values[x] < 8388608 && values[x] >= -8388608)
+					selector2 |= BYTES_3;
+				else
+					selector2 |= BYTES_4;
+			}
+
+			//Write the selectors
+			blackboxWrite((selector << 6) | selector2);
+
+			//And now the values according to the selectors we picked for them
+			for (x = 0; x < NUM_FIELDS; x++, selector2 >>= 2) {
+				switch (selector2 & 0x03) {
+					case BYTES_1:
+						blackboxWrite(values[x]);
+					break;
+					case BYTES_2:
+						blackboxWrite(values[x]);
+						blackboxWrite(values[x] >> 8);
+					break;
+					case BYTES_3:
+						blackboxWrite(values[x]);
+						blackboxWrite(values[x] >> 8);
+						blackboxWrite(values[x] >> 16);
+					break;
+					case BYTES_4:
+						blackboxWrite(values[x]);
+						blackboxWrite(values[x] >> 8);
+						blackboxWrite(values[x] >> 16);
+						blackboxWrite(values[x] >> 24);
+					break;
+				}
+			}
+		break;
+	}
+}
 
 /**
  * Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
  */
 static void writeTag8_4S16(int32_t *values) {
+
+	//Need to be enums rather than const ints if we want to switch on them (due to being C)
+	enum { FIELD_ZERO  = 0};
+	enum { FIELD_4BIT  = 1};
+	enum { FIELD_8BIT  = 2};
+	enum { FIELD_16BIT = 3};
+
 	uint8_t selector;
 	int x;
 
@@ -468,7 +587,7 @@ static void writeIntraframe(void)
 static void writeInterframe(void)
 {
 	int x;
-	int32_t rcDeltas[4];
+	int32_t deltas[4];
 
 	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
 	blackbox_values_t *blackboxLast = blackboxHistory[1];
@@ -487,19 +606,25 @@ static void writeInterframe(void)
 		writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
 
 	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisI[x] - blackboxLast->axisI[x]);
+		deltas[x] = blackboxCurrent->axisI[x] - blackboxLast->axisI[x];
 
+	/* 
+	 * The PID I field changes very slowly, most of the time +-2, so use an encoding
+	 * that can pack all three fields into one byte in that situation.
+	 */
+	writeTag2_3S32(deltas);
+	
 	for (x = 0; x < 3; x++)
 		writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
 
 	for (x = 0; x < 4; x++)
-		rcDeltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+		deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
 
 	/*
-	 * RC tends to stay the same or very small for many frames at a time, so use an encoding that
+	 * RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
 	 * can pack multiple values per byte:
 	 */
-	writeTag8_4S16(rcDeltas);
+	writeTag8_4S16(deltas);
 
 	//Since gyros, accs and motors are noisy, base the prediction on the average of the history:
 	for (x = 0; x < 3; x++)
@@ -729,27 +854,39 @@ void handleBlackbox(void)
 					blackboxPrintf("H Firmware type:Cleanflight\n");
 				break;
 				case 1:
-					blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
+					// Pause to allow more time for previous to transmit (it exceeds our chunk size)
 				break;
 				case 2:
-					blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
+					blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
 				break;
 				case 3:
-					blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
+					// Pause to allow more time for previous to transmit
 				break;
 				case 4:
-					blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
+					blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
 				break;
 				case 5:
-					blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
+					// Pause to allow more time for previous to transmit
 				break;
 				case 6:
+					blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
+				break;
+				case 7:
+					blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
+				break;
+				case 8:
+					blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
+				break;
+				case 9:
 					floatConvert.f = gyro.scale;
 					blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
 				break;
-				case 7:
+				case 10:
 					blackboxPrintf("H acc_1G:%u\n", acc_1G);
 				break;
+				case 11:
+					// One more pause for good luck
+				break;
 				default:
 					blackboxState = BLACKBOX_STATE_RUNNING;
 			}
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index a38495b42e..1e0dbce1e7 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -47,11 +47,6 @@
 
 #define FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       0
 #define FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     1
-#define FLIGHT_LOG_FIELD_ENCODING_U8              2
-#define FLIGHT_LOG_FIELD_ENCODING_U16             3
-#define FLIGHT_LOG_FIELD_ENCODING_U32             4
-#define FLIGHT_LOG_FIELD_ENCODING_S8              5
-#define FLIGHT_LOG_FIELD_ENCODING_S16             6
-#define FLIGHT_LOG_FIELD_ENCODING_S32             7
+#define FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       7
 #define FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       8
 #define FLIGHT_LOG_FIELD_ENCODING_NULL            9

From e47a82add8710d588848306b43a3bfc210af5853 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Wed, 10 Dec 2014 15:35:49 +1300
Subject: [PATCH 04/24] Version 0.1.2

---
 obj/cleanflight_NAZE.hex | 11585 +++++++++++++++++++------------------
 1 file changed, 5801 insertions(+), 5784 deletions(-)

diff --git a/obj/cleanflight_NAZE.hex b/obj/cleanflight_NAZE.hex
index ac1771b1cb..21712cb525 100644
--- a/obj/cleanflight_NAZE.hex
+++ b/obj/cleanflight_NAZE.hex
@@ -1,24 +1,24 @@
 :020000040800F2
-:100000000050002025F70008D1F7000821E1000882
-:10001000D1F70008D1F70008D1F700080000000070
-:10002000000000000000000000000000D1F7000800
-:10003000D1F7000800000000D1F7000811E1000826
-:10004000D1F70008D1F70008D1F70008D1F7000870
-:10005000D1F70008D1F70008D1F7000865DF0008E4
-:10006000D1F70008D1F70008D1F70008D1F7000850
-:10007000D1F70008D1F7000825DF0008D1F7000804
-:1000800069DF0008D1F70008D1F70008D1F70008B0
-:10009000D1F70008D1F70008D1F7000861DF0008A8
-:1000A000D1F7000839DE0008D1F7000849DE000862
-:1000B00029DE000819DE000809DE0008A5DF0008B7
-:1000C0009DDF0008A1DF000899DF0008D1F70008D4
-:1000D000D1F70008E1DE000859DE0008D1F700087A
-:1000E000A9DF0008D1F70008D1F7000800000000E0
+:1000000000500020ADF9000859FA0008A9E30008E3
+:1000100059FA000859FA000859FA000800000000CF
+:1000200000000000000000000000000059FA000875
+:1000300059FA00080000000059FA000899E3000886
+:1000400059FA000859FA000859FA000859FA000844
+:1000500059FA000859FA000859FA0008EDE10008B9
+:1000600059FA000859FA000859FA000859FA000824
+:1000700059FA000859FA0008ADE1000859FA0008D9
+:10008000F1E1000859FA000859FA000859FA000885
+:1000900059FA000859FA000859FA0008E9E100087D
+:1000A00059FA0008C1E0000859FA0008D1E0000838
+:1000B000B1E00008A1E0000891E000082DE200088E
+:1000C00025E2000829E2000821E2000859FA0008A8
+:1000D00059FA000869E10008E1E0000859FA00084F
+:1000E00031E2000859FA000859FA0008000000003F
 :1000F0000000000000000000000000000000000000
 :0C01000000000000000000005FF808F1A3
 :100110002DE9F04F734B744D9FB02B6000236B6043
-:100120000AF0C8FF18B908F05FFA0AF0E5FF0DF011
-:10013000A9FC002308936D4C09930A934FF4E01334
+:100120000BF0C3FB18B907F0EBF90BF0E1FB0DF096
+:10013000EDFD002308936D4C09930A934FF4E013EF
 :100140000B9323686A4943F480338A7B2360A36955
 :10015000894643F01003A361236803F40033099335
 :10016000089B01330893099B1BB9089BB3F5A06F4B
@@ -45,34 +45,34 @@
 :1002B00005E0526812F4003F3A6818BF52085143F3
 :1002C00019606268C2F303123A4492F804B01A68E3
 :1002D00022FA0BFB0A4AC3F800B03B68934217D1DD
-:1002E000012219E0D54F00085807002000100240F5
-:1002F0002C20002000200240240000200410014097
-:1003000000127A00001BB700A400002000093D0085
+:1002E000012219E0955A0008D406002000100240AF
+:1002F0003020002000200240240000200410014093
+:1003000000127A00001BB700A800002000093D0081
 :10031000B24A934202D10222B14B1A70DFF800A315
 :10032000B04B1EAECAF80C30A3694FF0000843F082
 :100330000103A361636AAC4843F080736362A369FD
 :1003400043F01C03A3614FF6FF7326F82C3D3146A2
-:100350008DF84E800AF036FBA44831460AF032FB95
-:100360003146A3480AF02EFBA24B30465A6842F0B1
-:1003700000725A600CF05CF8139B9F4A6420B3FB38
+:100350008DF84E8009F0DEFAA448314609F0DAFA49
+:100360003146A34809F0D6FAA24B30465A6842F00B
+:1003700000725A6006F08AFA139B9F4A6420B3FB0E
 :10038000F2F34FF47A72AB60BBFBF2FB9B4B0BF1C9
 :10039000FF325A60F0228AF823200722C3F808802F
-:1003A0001A6004F0F0FC96484146A02211F00DFDC1
+:1003A0001A6005F050FA96484146A02211F099FDD6
 :1003B000E36943F00703E361A36943F4006343F097
 :1003C0000C03A3618F4B002103F10C0208F802100B
 :1003D00008F10108B8F10E0FF4D1FF229A76DA760F
 :1003E0001A775A77884B0FCB86E80F00A36908224B
 :1003F00043F00803A361A369139843F00803A361C2
-:100400007A4B14A91A6110221A610AF0DBFA1598C6
-:1004100016A90AF0D7FA724B73481A789846012A3F
+:100400007A4B14A91A6110221A6109F083FA15981F
+:1004100016A909F07FFA724B73481A789846012A98
 :100420008CBF102314238DF84E304FF002038DF84B
 :100430004F30A3694FF4805243F00403ADF84C20D1
-:100440008CBF4FF0010A4FF0000AA36131460AF059
-:10045000B9FA6E4BBAF1000F01D06D4A00E06D4A57
-:1004600000201A6004F099FC6B4B93E80300A36929
-:1004700086E8030043F0080314A9A36113980AF067
-:10048000A1FA0CF0D1FB9F238DF8383032200023E5
-:100490008DF839308DF83A308DF83B3004F073FC2C
+:100440008CBF4FF0010A4FF0000AA361314609F05A
+:1004500061FA6E4BBAF1000F01D06D4A00E06D4AAF
+:1004600000201A6005F0F9F96B4B93E80300A369CB
+:1004700086E8030043F0080314A9A361139809F068
+:1004800049FA0BF041F99F238DF8383032200023D0
+:100490008DF839308DF83A308DF83B3005F0D3F9CE
 :1004A000524B4FF480525A61A3F554430EAA9B89D4
 :1004B00005204FF47A7331469246013823D01AB1A1
 :1004C00092F800E0013208E04FF0FF0E05E003F182
@@ -82,34 +82,34 @@
 :1005000001339BB2EB83DFF8E4B04FF48053CBF8B8
 :1005100010309DF84E109DF84D20090241EA02412D
 :100520009DF84F2011433D4A914214D0CBF814302E
-:10053000F52002930BF0E1F9FF200BF0DEF9029BAE
+:10053000F52002930CF042FFFF200CF03FFF029BDE
 :100540007028CBF8103006D198F80030022B02D179
 :10055000234B03221A7098F800B0BBF1030F02D0AE
-:10056000012006F0EBFCD9F80820DFF8988002F4AF
+:10056000012007F0D1F9D9F80820DFF8988002F4CB
 :1005700000434FF0100C02F4006204920021624626
-:1005800008F120000293CDF80CC011F01EFC0022EF
+:1005800008F120000293CDF80CC011F0AAFC002263
 :100590008DF83B200422DDF80CC0072085F82020D0
 :1005A0000122022185F8230093458DF83A10ADF819
 :1005B00038C085F82220029B36D94FF0300EADF8B6
 :1005C00038E04FF0050E88F828E088F8292088F8F0
 :1005D0002A2088F82B00884627E000BF001BB700C0
-:1005E000D72700200005FA0500080140000C014053
+:1005E000D62700200005FA0500080140000C014054
 :1005F000001001400000014040420F0010E000E008
-:10060000CC1E002058070020EC440108DC27002005
-:100610005146000865460008FC44010815202000EA
+:10060000D01E0020D406002004460108D827002070
+:10061000E1500008F550000814460108152020009C
 :1006200000ED00E00038004090469BB1BDF8383046
 :1006300085F8258043F00203ADF83830012308EB3C
 :10064000030285F8243085F82630072385F8273003
-:100650005FFA82F8854851460BF03CFF049BABB132
-:10066000022383485146ADF838300BF033FF09239D
+:100650005FFA82F88548514604F063FD049BABB114
+:10066000022383485146ADF8383004F05AFD09237F
 :10067000012285F82C3085F82E2008F1010307228D
 :1006800085F82D8085F82F205FFA83F86369794813
 :1006900043F001036361A369764D43F40073A361E2
-:1006A00004F02AF8744B00241393744BB8F1010F33
+:1006A00004F0BCFD744B00241393744BB8F1010F9C
 :1006B00014930CBF2346802318934FF4807319932F
 :1006C0004FF480631A93202331461B9328464FF43E
-:1006D00000531C931594CDF8588017941D9403F083
-:1006E000EDFF2B68B8F1010F43F001032B60644B61
+:1006D00000531C931594CDF8588017941D9404F082
+:1006E0007FFD2B68B8F1010F43F001032B60644BD1
 :1006F00098BF00215A6888BF012122F4702222F499
 :10070000807242EA01225A6099685E4A20460A4095
 :1007100042F4602242F002029A60D96A08F1FF3284
@@ -134,40 +134,40 @@
 :1008400013F00403FAD19168B9F8E60041F4A0016D
 :1008500091600E4AE8B9B2F9E830CBB9B2F9EA30A2
 :10086000D3F1010338BF002313E000BF00080140AB
-:10087000000C0140080002404C2401408807002081
-:1008800000240140FDF7F1FF780700202C20002014
+:10087000000C0140080002404C2401400407002005
+:1008800000240140FDF7F1FFF40600203020002095
 :10089000034613F0010340F081803B7500B20EF077
-:1008A00073F9AB490EF0C4F9AA4C0646B4F9E80056
-:1008B0000EF06AF9A6490EF0BBF90546B4F9EA0054
-:1008C0000EF062F9A2490EF0B3F90446304611F079
-:1008D000ABFC0746304611F01BFD8046284611F060
-:1008E000A3FC0646284611F013FD0546204611F0EC
-:1008F0009BFC8246204611F00BFD3946814650464E
-:100900000EF096F93946834648460EF091F9514665
-:10091000049040460EF08CF94946059040460EF092
-:1009200087F93146079050460EF082F98A4C4946C5
-:10093000A06306F100400EF07BF92946E0632564D0
-:1009400005980EF075F9014604980EF069F82946ED
-:10095000606407980EF06CF9014658460EF05EF898
-:100960003146A06408F100400EF062F92946E064C7
-:1009700058460EF05DF9014607980EF04FF82946EB
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From ce5d64f653eabd663ee8d29ea8ca3991bd0ae0f0 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Wed, 17 Dec 2014 17:16:17 +1300
Subject: [PATCH 05/24] Firmware version 0.1.4 Add ability to reduce recorded
 data rate Update struct names to conform to code style guidelines

---
 obj/cleanflight_NAZE.hex        | 11269 +++++++++++++++---------------
 src/main/blackbox/blackbox.c    |    72 +-
 src/main/blackbox/blackbox.h    |     4 +-
 src/main/config/config.c        |     5 +
 src/main/config/config_master.h |     2 +
 src/main/io/serial_cli.c        |     3 +
 6 files changed, 5709 insertions(+), 5646 deletions(-)

diff --git a/obj/cleanflight_NAZE.hex b/obj/cleanflight_NAZE.hex
index 21712cb525..9d67adbbef 100644
--- a/obj/cleanflight_NAZE.hex
+++ b/obj/cleanflight_NAZE.hex
@@ -1,24 +1,24 @@
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diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index b5cd03eaf5..eadd8621b8 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -77,11 +77,7 @@
 
 #define BLACKBOX_BAUDRATE 115200
 #define BLACKBOX_INITIAL_PORT_MODE MODE_TX
-
-static const char blackboxHeader[] =
-	"H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
-	"H Blackbox version:1\n"
-	"H Data version:1\n";
+#define BLACKBOX_I_INTERVAL 32
 
 // Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
 #define STR_HELPER(x) #x
@@ -93,6 +89,12 @@ static const char blackboxHeader[] =
 #define PREDICT(x) STR(CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x))
 #define ENCODING(x) STR(CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x))
 
+static const char blackboxHeader[] =
+	"H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
+	"H Blackbox version:1\n"
+	"H Data version:1\n"
+	"H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
+
 /* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
 static const char * const blackboxHeaderFields[] = {
 	"H Field I name:"
@@ -288,10 +290,10 @@ static uint32_t previousBaudRate;
 static gpsState_t gpsHistory;
 
 // Keep a history of length 2, plus a buffer for MW to store the new values into
-static blackbox_values_t blackboxHistoryRing[3];
+static blackboxValues_t blackboxHistoryRing[3];
 
 // These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
-static blackbox_values_t* blackboxHistory[3];
+static blackboxValues_t* blackboxHistory[3];
 
 static int isTricopter()
 {
@@ -536,7 +538,7 @@ static void writeTag8_4S16(int32_t *values) {
 
 static void writeIntraframe(void)
 {
-	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
+	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
 	int x;
 
 	blackboxWrite('I');
@@ -589,8 +591,8 @@ static void writeInterframe(void)
 	int x;
 	int32_t deltas[4];
 
-	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
-	blackbox_values_t *blackboxLast = blackboxHistory[1];
+	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
+	blackboxValues_t *blackboxLast = blackboxHistory[1];
 
 	blackboxWrite('P');
 
@@ -645,6 +647,28 @@ static void writeInterframe(void)
 	blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
 }
 
+static int gcd(int num, int denom)
+{
+	if (denom == 0)
+		return num;
+	return gcd(denom, num % denom);
+}
+
+static void validateBlackboxConfig()
+{
+	int div;
+
+	if (masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
+		masterConfig.blackbox_rate_num = 1;
+		masterConfig.blackbox_rate_denom = 1;
+	} else {
+		div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
+
+		masterConfig.blackbox_rate_num /= div;
+		masterConfig.blackbox_rate_denom /= div;
+	}
+}
+
 static void configureBlackboxPort(void)
 {
 	blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
@@ -676,6 +700,8 @@ static void releaseBlackboxPort(void)
 void startBlackbox(void)
 {
 	if (blackboxState == BLACKBOX_STATE_STOPPED) {
+		validateBlackboxConfig();
+
 		configureBlackboxPort();
 
 		if (!blackboxPort) {
@@ -739,7 +765,7 @@ static void writeGPSFrame()
  */
 static void loadBlackboxState(void)
 {
-	blackbox_values_t *blackboxCurrent = blackboxHistory[0];
+	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
 	int i;
 
 	blackboxCurrent->time = currentTime;
@@ -774,6 +800,8 @@ void handleBlackbox(void)
 	const int SERIAL_CHUNK_SIZE = 16;
 	static int charXmitIndex = 0;
 	int motorsToRemove, endIndex;
+	int blackboxIntercycleIndex, blackboxIntracycleIndex;
+
 	union floatConvert_t {
 		float f;
 		uint32_t u;
@@ -894,17 +922,19 @@ void handleBlackbox(void)
 			headerXmitIndex++;
 		break;
 		case BLACKBOX_STATE_RUNNING:
-        	// Copy current system values into the blackbox
-        	loadBlackboxState();
-
 			// Write a keyframe every 32 frames so we can resynchronise upon missing frames
-			int blackboxIntercycleIndex = blackboxIteration % 32;
-			int blackboxIntracycleIndex = blackboxIteration / 32;
+			blackboxIntercycleIndex = blackboxIteration % BLACKBOX_I_INTERVAL;
+			blackboxIntracycleIndex = blackboxIteration / BLACKBOX_I_INTERVAL;
 
-			if (blackboxIntercycleIndex == 0)
+			if (blackboxIntercycleIndex == 0) {
+	        	// Copy current system values into the blackbox
+	        	loadBlackboxState();
 				writeIntraframe();
-			else {
-				writeInterframe();
+			} else {
+				if ((blackboxIntercycleIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
+		        	loadBlackboxState();
+		        	writeInterframe();
+		        }
 
 				if (feature(FEATURE_GPS)) {
 					/*
@@ -915,7 +945,7 @@ void handleBlackbox(void)
 					 * still be interpreted correctly.
 					 */
 					if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
-						|| (blackboxIntercycleIndex == 15 && blackboxIntracycleIndex % 128 == 0)) {
+						|| (blackboxIntercycleIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIntracycleIndex % 128 == 0)) {
 
 						writeGPSHomeFrame();
 						writeGPSFrame();
@@ -934,7 +964,7 @@ void handleBlackbox(void)
 	}
 }
 
-bool canUseBlackboxWithCurrentConfiguration(void)
+static bool canUseBlackboxWithCurrentConfiguration(void)
 {
     if (!feature(FEATURE_BLACKBOX))
         return false;
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index cd8f326c34..de5cc344d7 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -19,7 +19,7 @@
 
 #include <stdint.h>
 
-typedef struct blackbox_values_t {
+typedef struct blackboxValues_t {
 	uint32_t time;
 
 	int32_t axisP[3], axisI[3], axisD[3];
@@ -29,7 +29,7 @@ typedef struct blackbox_values_t {
 	int16_t accSmooth[3];
 	int16_t motor[MAX_SUPPORTED_MOTORS];
 	int16_t servo[MAX_SUPPORTED_SERVOS];
-} blackbox_values_t;
+} blackboxValues_t;
 
 void initBlackbox(void);
 void handleBlackbox(void);
diff --git a/src/main/config/config.c b/src/main/config/config.c
index bc96cdc189..1c4ff1a027 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -435,6 +435,11 @@ static void resetConf(void)
     applyDefaultLedStripConfig(masterConfig.ledConfigs);
 #endif
 
+#ifdef BLACKBOX
+    masterConfig.blackbox_rate_num = 1;
+    masterConfig.blackbox_rate_denom = 1;
+#endif
+
     // copy first profile into remaining profile
     for (i = 1; i < MAX_PROFILE_COUNT; i++) {
         memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t));
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index c354d9e58a..f1aeac24a1 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -82,6 +82,8 @@ typedef struct master_t {
     uint8_t current_profile_index;
     controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
 
+    uint8_t blackbox_rate_num;
+    uint8_t blackbox_rate_denom;
 
     uint8_t magic_ef;                       // magic number, should be 0xEF
     uint8_t chk;                            // XOR checksum
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index e18370e0c0..4716572dee 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -386,6 +386,9 @@ const clivalue_t valueTable[] = {
     { "p_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], 0, 200 },
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
+
+    { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_num, 1, 32 },
+    { "blackbox_rate_denom",        VAR_UINT8  | MASTER_VALUE,  &masterConfig.blackbox_rate_denom, 1, 32 },
 };
 
 #define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))

From 172256c91e6614bb2e84f2efc7aec06e2d744f1a Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Wed, 17 Dec 2014 21:31:28 +1300
Subject: [PATCH 06/24] Update readme

---
 README.md | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index 9ddd494400..974296ec2f 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,8 @@
 
 ![Rendered flight log frame](http://i.imgur.com/FBphB8c.jpg)
 
-WARNING - This firmware is experimental, and may cause your craft to suddenly fall out of the sky. This port to
-Cleanflight has only had 3 test flights! No warranty is offered: if your craft breaks, you get to keep both pieces.
+WARNING - This firmware is experimental, and may cause your craft to suddenly fall out of the sky. No warranty is
+offered: if your craft breaks, you get to keep both pieces.
 
 ## Introduction
 This is a modified version of Cleanflight which adds a flight data recorder function ("Blackbox"). Flight data
@@ -18,7 +18,8 @@ use the Cleanflight firmware from this repository instead of the Baseflight firm
 
 https://github.com/thenickdude/blackbox
 
-Instructions which are specific to Cleanflight are included here.
+You will also find the tools to turn your logs into CSV logs or PNG image files. Instructions which are specific to
+Cleanflight are included here.
 
 ## Installation of firmware
 Before installing the new firmware onto your Naze32, back up your configuration: Connect to your flight controller

From 5aa8e61c6ede5daf70d8c0a9b2534bbb80837c02 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 18 Dec 2014 17:39:09 +1300
Subject: [PATCH 07/24] Be defensive and don't mod by zero if denominator
 somehow gets set to zero

---
 src/main/blackbox/blackbox.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index eadd8621b8..87fc45a08f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -658,7 +658,8 @@ static void validateBlackboxConfig()
 {
 	int div;
 
-	if (masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
+	if (masterConfig.blackbox_rate_num == 0 || masterConfig.blackbox_rate_denom == 0
+			|| masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
 		masterConfig.blackbox_rate_num = 1;
 		masterConfig.blackbox_rate_denom = 1;
 	} else {

From 0ed47d5e6df18ee14f20bdc1110fcce6e6d9a482 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 18 Dec 2014 18:42:22 +1300
Subject: [PATCH 08/24] Use spaces instead of tabs

---
 src/main/blackbox/blackbox.c | 1964 +++++++++++++++++-----------------
 src/main/blackbox/blackbox.h |   74 +-
 src/main/flight/flight.c     |    6 +-
 src/main/mw.c                |   10 +-
 4 files changed, 1027 insertions(+), 1027 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 87fc45a08f..baad91d3fc 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1,982 +1,982 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <string.h>
-#include <stdarg.h>
-
-#include "platform.h"
-#include "version.h"
-
-#include "common/maths.h"
-#include "common/axis.h"
-#include "common/color.h"
-
-#include "drivers/accgyro.h"
-#include "drivers/light_led.h"
-
-#include "drivers/gpio.h"
-#include "drivers/system.h"
-#include "drivers/serial.h"
-#include "drivers/timer.h"
-#include "drivers/pwm_rx.h"
-
-#include "common/printf.h"
-
-#include "flight/flight.h"
-#include "sensors/sensors.h"
-#include "sensors/boardalignment.h"
-#include "sensors/sonar.h"
-#include "sensors/compass.h"
-#include "sensors/acceleration.h"
-#include "sensors/barometer.h"
-#include "sensors/gyro.h"
-#include "sensors/battery.h"
-#include "io/beeper.h"
-#include "io/display.h"
-#include "io/escservo.h"
-#include "rx/rx.h"
-#include "io/rc_controls.h"
-#include "flight/mixer.h"
-#include "flight/altitudehold.h"
-#include "flight/failsafe.h"
-#include "flight/imu.h"
-#include "flight/autotune.h"
-#include "flight/navigation.h"
-#include "io/gimbal.h"
-#include "io/gps.h"
-#include "io/ledstrip.h"
-#include "io/serial.h"
-#include "io/serial_cli.h"
-#include "io/serial_msp.h"
-#include "io/statusindicator.h"
-#include "rx/msp.h"
-#include "telemetry/telemetry.h"
-
-#include "config/runtime_config.h"
-#include "config/config.h"
-#include "config/config_profile.h"
-#include "config/config_master.h"
-
-#include "blackbox_fielddefs.h"
-#include "blackbox.h"
-
-#define BLACKBOX_BAUDRATE 115200
-#define BLACKBOX_INITIAL_PORT_MODE MODE_TX
-#define BLACKBOX_I_INTERVAL 32
-
-// Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
-#define STR_HELPER(x) #x
-#define STR(x) STR_HELPER(x)
-
-#define CONCAT_HELPER(x,y) x ## y
-#define CONCAT(x,y) CONCAT_HELPER(x, y)
-
-#define PREDICT(x) STR(CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x))
-#define ENCODING(x) STR(CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x))
-
-static const char blackboxHeader[] =
-	"H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
-	"H Blackbox version:1\n"
-	"H Data version:1\n"
-	"H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
-
-/* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
-static const char * const blackboxHeaderFields[] = {
-	"H Field I name:"
-		"loopIteration,time,"
-		"axisP[0],axisP[1],axisP[2],"
-		"axisI[0],axisI[1],axisI[2],"
-		"axisD[0],axisD[1],axisD[2],"
-		"rcCommand[0],rcCommand[1],rcCommand[2],rcCommand[3],"
-		"gyroData[0],gyroData[1],gyroData[2],"
-		"accSmooth[0],accSmooth[1],accSmooth[2],"
-		"motor[0],motor[1],motor[2],motor[3],"
-		"motor[4],motor[5],motor[6],motor[7]",
-
-	"H Field I signed:"
-		/* loopIteration, time: */
-		"0,0,"
-		/* PIDs: */
-		"1,1,1,1,1,1,1,1,1,"
-		/* rcCommand[0..2] */
-		"1,1,1,"
-		/* rcCommand[3] (Throttle): */
-		"0,"
-		/* gyroData[0..2]: */
-		"1,1,1,"
-		/* accSmooth[0..2]: */
-		"1,1,1,"
-		/* Motor[0..7]: */
-		"0,0,0,0,0,0,0,0",
-
-	"H Field I predictor:"
-		/* loopIteration, time: */
-		PREDICT(0) "," PREDICT(0) ","
-		/* PIDs: */
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		/* rcCommand[0..2] */
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		/* rcCommand[3] (Throttle): */
-		PREDICT(MINTHROTTLE) ","
-		/* gyroData[0..2]: */
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		/* accSmooth[0..2]: */
-		PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-		/* Motor[0]: */
-		PREDICT(MINTHROTTLE) ","
-		/* Motor[1..7]: */
-		PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
-		PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
-		PREDICT(MOTOR_0),
-
-     "H Field I encoding:"
-		/* loopIteration, time: */
-		ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) ","
-		/* PIDs: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* rcCommand[0..2] */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* rcCommand[3] (Throttle): */
-		ENCODING(UNSIGNED_VB) ","
-		/* gyroData[0..2]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* accSmooth[0..2]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* Motor[0]: */
-		ENCODING(UNSIGNED_VB) ","
-		/* Motor[1..7]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB),
-
-	//Motors and gyros predict an average of the last two measurements (to reduce the impact of noise):
-	"H Field P predictor:"
-		/* loopIteration, time: */
-		PREDICT(INC) "," PREDICT(STRAIGHT_LINE) ","
-		/* PIDs: */
-		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-		/* rcCommand[0..2] */
-		PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-		/* rcCommand[3] (Throttle): */
-		PREDICT(PREVIOUS) ","
-		/* gyroData[0..2]: */
-		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-		/* accSmooth[0..2]: */
-		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-		/* Motor[0]: */
-		PREDICT(AVERAGE_2) ","
-		/* Motor[1..7]: */
-		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-		PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-		PREDICT(AVERAGE_2),
-
-	/* RC fields are encoded together as a group, everything else is signed since they're diffs: */
-    "H Field P encoding:"
-		/* loopIteration, time: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
-		/* PIDs: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(TAG2_3S32) "," ENCODING(TAG2_3S32) ","  ENCODING(TAG2_3S32) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* rcCommand[0..3] */
-		ENCODING(TAG8_4S16) "," ENCODING(TAG8_4S16) ","  ENCODING(TAG8_4S16) ","
-		ENCODING(TAG8_4S16) ","
-		/* gyroData[0..2]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* accSmooth[0..2]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		/* Motor[0]: */
-		ENCODING(SIGNED_VB) ","
-		/* Motor[1..7]: */
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-		ENCODING(SIGNED_VB)
-};
-
-/**
- * Additional fields to tack on to those above for tricopters (to record tail servo position)
- */
-static const char * const blackboxAdditionalFieldsTricopter[] = {
-	//Field I name
-		"servo[5]",
-
-	//Field I signed
-		"0",
-
-	//Field I predictor
-		PREDICT(1500),
-
-    //Field I encoding:
-		ENCODING(SIGNED_VB),
-
-	//Field P predictor:
-		PREDICT(PREVIOUS),
-
-    //Field P encoding:
-		ENCODING(SIGNED_VB)
-};
-
-static const char blackboxGpsHeader[] =
-	"H Field G name:"
-		"GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed\n"
-	"H Field G signed:"
-		"0,1,1,0,0\n"
-	"H Field G predictor:"
-		PREDICT(0) "," PREDICT(HOME_COORD) "," PREDICT(HOME_COORD) "," PREDICT(0) "," PREDICT(0) "\n"
-	"H Field G encoding:"
-		ENCODING(UNSIGNED_VB) "," ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
-		ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) "\n"
-
-	"H Field H name:"
-		"GPS_home[0],GPS_home[1]\n"
-	"H Field H signed:"
-		"1,1\n"
-	"H Field H predictor:"
-		PREDICT(0) "," PREDICT(0) "\n"
-	"H Field H encoding:"
-		ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) "\n";
-
-typedef enum BlackboxState {
-	BLACKBOX_STATE_DISABLED = 0,
-	BLACKBOX_STATE_STOPPED,
-	BLACKBOX_STATE_SEND_HEADER,
-	BLACKBOX_STATE_SEND_FIELDINFO,
-	BLACKBOX_STATE_SEND_GPS_HEADERS,
-	BLACKBOX_STATE_SEND_SYSINFO,
-	BLACKBOX_STATE_RUNNING
-} BlackboxState;
-
-typedef struct gpsState_t {
-	int32_t GPS_home[2], GPS_coord[2];
-	uint8_t GPS_numSat;
-} gpsState_t;
-
-//From mixer.c:
-extern uint8_t motorCount;
-
-//From mw.c:
-extern uint32_t currentTime;
-
-static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
-static uint32_t startTime;
-static unsigned int headerXmitIndex;
-static uint32_t blackboxIteration;
-
-static serialPort_t *blackboxPort;
-static portMode_t previousPortMode;
-static uint32_t previousBaudRate;
-
-static gpsState_t gpsHistory;
-
-// Keep a history of length 2, plus a buffer for MW to store the new values into
-static blackboxValues_t blackboxHistoryRing[3];
-
-// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
-static blackboxValues_t* blackboxHistory[3];
-
-static int isTricopter()
-{
-	return masterConfig.mixerConfiguration == MULTITYPE_TRI;
-}
-
-static void blackboxWrite(uint8_t value)
-{
-	serialWrite(blackboxPort, value);
-}
-
-static void _putc(void *p, char c)
-{
-    (void)p;
-    serialWrite(blackboxPort, c);
-}
-
-//printf() to the blackbox serial port with no blocking shenanigans (so it's caller's responsibility to not write too fast!)
-static void blackboxPrintf(char *fmt, ...)
-{
-    va_list va;
-    va_start(va, fmt);
-    tfp_format(NULL, _putc, fmt, va);
-    va_end(va);
-}
-
-/**
- * Write an unsigned integer to the blackbox serial port using variable byte encoding.
- */
-static void writeUnsignedVB(uint32_t value)
-{
-	//While this isn't the final byte (we can only write 7 bits at a time)
-	while (value > 127) {
-		blackboxWrite((uint8_t) (value | 0x80)); // Set the high bit to mean "more bytes follow"
-		value >>= 7;
-	}
-	blackboxWrite(value);
-}
-
-/**
- * Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding.
- */
-static void writeSignedVB(int32_t value)
-{
-	//ZigZag encode to make the value always positive
-	writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
-}
-
-/**
- * Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
- */
-static void writeTag2_3S32(int32_t *values) {
-	static const int NUM_FIELDS = 3;
-
-	//Need to be enums rather than const ints if we want to switch on them (due to being C)
-	enum { BITS_2  = 0};
-	enum { BITS_4  = 1};
-	enum { BITS_6  = 2};
-	enum { BITS_32 = 3};
-
-	enum { BYTES_1  = 0};
-	enum { BYTES_2  = 1};
-	enum { BYTES_3  = 2};
-	enum { BYTES_4  = 3};
-
-	int x;
-	int selector = BITS_2, selector2;
-
-	/*
-	 * Find out how many bits the largest value requires to encode, and use it to choose one of the packing schemes
-	 * below:
-	 *
-	 * Selector possibilities
-	 *
-	 * 2 bits per field  ss11 2233,
-	 * 4 bits per field  ss00 1111 2222 3333
-	 * 6 bits per field  ss11 1111 0022 2222 0033 3333
-	 * 32 bits per field sstt tttt followed by fields of various byte counts
-	 */
-	for (x = 0; x < NUM_FIELDS; x++) {
-		//Require more than 6 bits?
-		if (values[x] >= 32 || values[x] < -32) {
-			selector = BITS_32;
-			break;
-		}
-
-		//Require more than 4 bits?
-		if (values[x] >= 8 || values[x] < -8) {
-			 if (selector < BITS_6)
-				 selector = BITS_6;
-		} else if (values[x] >= 2 || values[x] < -2) { //Require more than 2 bits?
-			if (selector < BITS_4)
-				selector = BITS_4;
-		}
-	}
-
-	switch (selector) {
-		case BITS_2:
-			blackboxWrite((selector << 6) | ((values[0] & 0x03) << 4) | ((values[1] & 0x03) << 2) | (values[2] & 0x03));
-		break;
-		case BITS_4:
-			blackboxWrite((selector << 6) | (values[0] & 0x0F));
-			blackboxWrite((values[1] << 4) | (values[2] & 0x0F));
-		break;
-		case BITS_6:
-			blackboxWrite((selector << 6) | (values[0] & 0x3F));
-			blackboxWrite((uint8_t)values[1]);
-			blackboxWrite((uint8_t)values[2]);
-		break;
-		case BITS_32:
-			/*
-			 * Do another round to compute a selector for each field, assuming that they are at least 8 bits each
-			 *
-			 * Selector2 field possibilities
-			 * 0 - 8 bits
-			 * 1 - 16 bits
-			 * 2 - 24 bits
-			 * 3 - 32 bits
-			 */
-			selector2 = 0;
-
-			//Encode in reverse order so the first field is in the low bits:
-			for (x = NUM_FIELDS - 1; x >= 0; x--) {
-				selector2 <<= 2;
-
-				if (values[x] < 128 && values[x] >= -128)
-					selector2 |= BYTES_1;
-				else if (values[x] < 32768 && values[x] >= -32768)
-					selector2 |= BYTES_2;
-				else if (values[x] < 8388608 && values[x] >= -8388608)
-					selector2 |= BYTES_3;
-				else
-					selector2 |= BYTES_4;
-			}
-
-			//Write the selectors
-			blackboxWrite((selector << 6) | selector2);
-
-			//And now the values according to the selectors we picked for them
-			for (x = 0; x < NUM_FIELDS; x++, selector2 >>= 2) {
-				switch (selector2 & 0x03) {
-					case BYTES_1:
-						blackboxWrite(values[x]);
-					break;
-					case BYTES_2:
-						blackboxWrite(values[x]);
-						blackboxWrite(values[x] >> 8);
-					break;
-					case BYTES_3:
-						blackboxWrite(values[x]);
-						blackboxWrite(values[x] >> 8);
-						blackboxWrite(values[x] >> 16);
-					break;
-					case BYTES_4:
-						blackboxWrite(values[x]);
-						blackboxWrite(values[x] >> 8);
-						blackboxWrite(values[x] >> 16);
-						blackboxWrite(values[x] >> 24);
-					break;
-				}
-			}
-		break;
-	}
-}
-
-/**
- * Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
- */
-static void writeTag8_4S16(int32_t *values) {
-
-	//Need to be enums rather than const ints if we want to switch on them (due to being C)
-	enum { FIELD_ZERO  = 0};
-	enum { FIELD_4BIT  = 1};
-	enum { FIELD_8BIT  = 2};
-	enum { FIELD_16BIT = 3};
-
-	uint8_t selector;
-	int x;
-
-	/*
-	 * 4-bit fields can only be combined with their paired neighbor (there are two pairs), so choose a
-	 * larger encoding if that's not possible.
-	 */
-	const uint8_t rcSelectorCleanup[16] = {
-	//          Output selectors     <- Input selectors
-		FIELD_ZERO << 2 | FIELD_ZERO,   // zero, zero
-		FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 4-bit
-		FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 8-bit
-		FIELD_ZERO << 2 | FIELD_16BIT,  // zero, 16-bit
-		FIELD_8BIT << 2 | FIELD_ZERO,   // 4-bit, zero
-		FIELD_4BIT << 2 | FIELD_4BIT,   // 4-bit, 4-bit
-		FIELD_8BIT << 2 | FIELD_8BIT,   // 4-bit, 8-bit
-		FIELD_8BIT << 2 | FIELD_16BIT,  // 4-bit, 16-bit
-		FIELD_8BIT << 2 | FIELD_ZERO,   // 8-bit, zero
-		FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 4-bit
-		FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 8-bit
-		FIELD_8BIT << 2 | FIELD_16BIT,  // 8-bit, 16-bit
-		FIELD_16BIT << 2 | FIELD_ZERO,  // 16-bit, zero
-		FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 4-bit
-		FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 8-bit
-		FIELD_16BIT << 2 | FIELD_16BIT, // 16-bit, 16-bit
-	};
-
-	selector = 0;
-	//Encode in reverse order so the first field is in the low bits:
-	for (x = 3; x >= 0; x--) {
-		selector <<= 2;
-
-		if (values[x] == 0)
-			selector |= FIELD_ZERO;
-		else if (values[x] <= 7 && values[x] >= -8)
-			selector |= FIELD_4BIT;
-		else if (values[x] <= 127 && values[x] >= -128)
-			selector |= FIELD_8BIT;
-		else
-			selector |= FIELD_16BIT;
-	}
-
-	selector = rcSelectorCleanup[selector & 0x0F] | (rcSelectorCleanup[selector >> 4] << 4);
-
-	blackboxWrite(selector);
-
-	for (x = 0; x < 4; x++, selector >>= 2) {
-		switch (selector & 0x03) {
-			case FIELD_4BIT:
-				blackboxWrite((values[x] & 0x0F) | (values[x + 1] << 4));
-
-				//We write two selector fields:
-				x++;
-				selector >>= 2;
-			break;
-			case FIELD_8BIT:
-				blackboxWrite(values[x]);
-			break;
-			case FIELD_16BIT:
-				blackboxWrite(values[x]);
-				blackboxWrite(values[x] >> 8);
-			break;
-		}
-	}
-}
-
-static void writeIntraframe(void)
-{
-	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
-	int x;
-
-	blackboxWrite('I');
-
-	writeUnsignedVB(blackboxIteration);
-	writeUnsignedVB(blackboxCurrent->time);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisP[x]);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisI[x]);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisD[x]);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->rcCommand[x]);
-
-	writeUnsignedVB(blackboxCurrent->rcCommand[3] - masterConfig.escAndServoConfig.minthrottle); //Throttle lies in range [minthrottle..maxthrottle]
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->gyroData[x]);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->accSmooth[x]);
-
-	//Motors can be below minthrottle when disarmed, but that doesn't happen much
-	writeUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
-
-	//Motors tend to be similar to each other
-	for (x = 1; x < motorCount; x++)
-		writeSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
-
-	if (isTricopter())
-		writeSignedVB(blackboxHistory[0]->servo[5] - 1500);
-
-	//Rotate our history buffers:
-
-	//The current state becomes the new "before" state
-	blackboxHistory[1] = blackboxHistory[0];
-	//And since we have no other history, we also use it for the "before, before" state
-	blackboxHistory[2] = blackboxHistory[0];
-	//And advance the current state over to a blank space ready to be filled
-	blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
-}
-
-static void writeInterframe(void)
-{
-	int x;
-	int32_t deltas[4];
-
-	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
-	blackboxValues_t *blackboxLast = blackboxHistory[1];
-
-	blackboxWrite('P');
-
-	//No need to store iteration count since its delta is always 1
-
-	/*
-	 * Since the difference between the difference between successive times will be nearly zero, use
-	 * second-order differences.
-	 */
-	writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
-
-	for (x = 0; x < 3; x++)
-		deltas[x] = blackboxCurrent->axisI[x] - blackboxLast->axisI[x];
-
-	/* 
-	 * The PID I field changes very slowly, most of the time +-2, so use an encoding
-	 * that can pack all three fields into one byte in that situation.
-	 */
-	writeTag2_3S32(deltas);
-	
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
-
-	for (x = 0; x < 4; x++)
-		deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
-
-	/*
-	 * RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
-	 * can pack multiple values per byte:
-	 */
-	writeTag8_4S16(deltas);
-
-	//Since gyros, accs and motors are noisy, base the prediction on the average of the history:
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
-
-	for (x = 0; x < 3; x++)
-		writeSignedVB(blackboxHistory[0]->accSmooth[x] - (blackboxHistory[1]->accSmooth[x] + blackboxHistory[2]->accSmooth[x]) / 2);
-
-	for (x = 0; x < motorCount; x++)
-		writeSignedVB(blackboxHistory[0]->motor[x] - (blackboxHistory[1]->motor[x] + blackboxHistory[2]->motor[x]) / 2);
-
-	if (isTricopter())
-		writeSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
-
-	//Rotate our history buffers
-	blackboxHistory[2] = blackboxHistory[1];
-	blackboxHistory[1] = blackboxHistory[0];
-	blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
-}
-
-static int gcd(int num, int denom)
-{
-	if (denom == 0)
-		return num;
-	return gcd(denom, num % denom);
-}
-
-static void validateBlackboxConfig()
-{
-	int div;
-
-	if (masterConfig.blackbox_rate_num == 0 || masterConfig.blackbox_rate_denom == 0
-			|| masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
-		masterConfig.blackbox_rate_num = 1;
-		masterConfig.blackbox_rate_denom = 1;
-	} else {
-		div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
-
-		masterConfig.blackbox_rate_num /= div;
-		masterConfig.blackbox_rate_denom /= div;
-	}
-}
-
-static void configureBlackboxPort(void)
-{
-	blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
-	if (blackboxPort) {
-		previousPortMode = blackboxPort->mode;
-		previousBaudRate = blackboxPort->baudRate;
-
-		serialSetBaudRate(blackboxPort, BLACKBOX_BAUDRATE);
-		serialSetMode(blackboxPort, BLACKBOX_INITIAL_PORT_MODE);
-		beginSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
-	} else {
-		blackboxPort = openSerialPort(FUNCTION_BLACKBOX, NULL, BLACKBOX_BAUDRATE, BLACKBOX_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
-
-		if (blackboxPort) {
-			previousPortMode = blackboxPort->mode;
-			previousBaudRate = blackboxPort->baudRate;
-		}
-	}
-}
-
-static void releaseBlackboxPort(void)
-{
-    serialSetMode(blackboxPort, previousPortMode);
-    serialSetBaudRate(blackboxPort, previousBaudRate);
-
-    endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
-}
-
-void startBlackbox(void)
-{
-	if (blackboxState == BLACKBOX_STATE_STOPPED) {
-		validateBlackboxConfig();
-
-		configureBlackboxPort();
-
-		if (!blackboxPort) {
-			blackboxState = BLACKBOX_STATE_DISABLED;
-			return;
-		}
-
-		startTime = millis();
-		headerXmitIndex = 0;
-		blackboxIteration = 0;
-		blackboxState = BLACKBOX_STATE_SEND_HEADER;
-
-		memset(&gpsHistory, 0, sizeof(gpsHistory));
-
-		//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
-
-		blackboxHistory[0] = &blackboxHistoryRing[0];
-		blackboxHistory[1] = &blackboxHistoryRing[1];
-		blackboxHistory[2] = &blackboxHistoryRing[2];
-	}
-}
-
-void finishBlackbox(void)
-{
-	if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
-		blackboxState = BLACKBOX_STATE_STOPPED;
-		
-		releaseBlackboxPort();
-	}
-}
-
-static void writeGPSHomeFrame()
-{
-	blackboxWrite('H');
-
-	writeSignedVB(GPS_home[0]);
-	writeSignedVB(GPS_home[1]);
-	//TODO it'd be great if we could grab the GPS current time and write that too
-
-	gpsHistory.GPS_home[0] = GPS_home[0];
-	gpsHistory.GPS_home[1] = GPS_home[1];
-}
-
-static void writeGPSFrame()
-{
-	blackboxWrite('G');
-
-	writeUnsignedVB(GPS_numSat);
-	writeSignedVB(GPS_coord[0] - gpsHistory.GPS_home[0]);
-	writeSignedVB(GPS_coord[1] - gpsHistory.GPS_home[1]);
-	writeUnsignedVB(GPS_altitude);
-	writeUnsignedVB(GPS_speed);
-
-	gpsHistory.GPS_numSat = GPS_numSat;
-	gpsHistory.GPS_coord[0] = GPS_coord[0];
-	gpsHistory.GPS_coord[1] = GPS_coord[1];
-}
-
-/**
- * Fill the current state of the blackbox using values read from the flight controller
- */
-static void loadBlackboxState(void)
-{
-	blackboxValues_t *blackboxCurrent = blackboxHistory[0];
-	int i;
-
-	blackboxCurrent->time = currentTime;
-
-	for (i = 0; i < 3; i++)
-		blackboxCurrent->axisP[i] = axisP[i];
-	for (i = 0; i < 3; i++)
-		blackboxCurrent->axisI[i] = axisI[i];
-	for (i = 0; i < 3; i++)
-		blackboxCurrent->axisD[i] = axisD[i];
-
-	for (i = 0; i < 4; i++)
-		blackboxCurrent->rcCommand[i] = rcCommand[i];
-
-	for (i = 0; i < 3; i++)
-		blackboxCurrent->gyroData[i] = gyroData[i];
-
-	for (i = 0; i < 3; i++)
-		blackboxCurrent->accSmooth[i] = accSmooth[i];
-
-	for (i = 0; i < motorCount; i++)
-		blackboxCurrent->motor[i] = motor[i];
-
-	//Tail servo for tricopters
-	blackboxCurrent->servo[5] = servo[5];
-}
-
-void handleBlackbox(void)
-{
-	int i;
-	const char *additionalHeader;
-	const int SERIAL_CHUNK_SIZE = 16;
-	static int charXmitIndex = 0;
-	int motorsToRemove, endIndex;
-	int blackboxIntercycleIndex, blackboxIntracycleIndex;
-
-	union floatConvert_t {
-		float f;
-		uint32_t u;
-	} floatConvert;
-
-	switch (blackboxState) {
-		case BLACKBOX_STATE_SEND_HEADER:
-			/*
-			 * Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
-			 * buffer.
-			 */
-			if (millis() > startTime + 100) {
-				for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
-					blackboxWrite(blackboxHeader[headerXmitIndex]);
-
-				if (blackboxHeader[headerXmitIndex] == '\0') {
-					blackboxState = BLACKBOX_STATE_SEND_FIELDINFO;
-					headerXmitIndex = 0;
-					charXmitIndex = 0;
-				}
-			}
-		break;
-		case BLACKBOX_STATE_SEND_FIELDINFO:
-			/*
-			 * Send information about the fields we're recording to the log.
-			 *
-			 * Once again, we're chunking up the data so we don't exceed our datarate. This time we're trimming the
-			 * excess field defs off the end of the header for motors we don't have.
-			 */
-			motorsToRemove = 8 - motorCount;
-
-			if (headerXmitIndex < sizeof(blackboxHeaderFields) / sizeof(blackboxHeaderFields[0])){
-				endIndex = strlen(blackboxHeaderFields[headerXmitIndex]) - (headerXmitIndex == 0 ? strlen(",motor[x]") : strlen(",x")) * motorsToRemove;
-
-				for (i = charXmitIndex; i < charXmitIndex + SERIAL_CHUNK_SIZE && i < endIndex; i++)
-					blackboxWrite(blackboxHeaderFields[headerXmitIndex][i]);
-
-				// Did we complete this line?
-				if (i == endIndex) {
-					if (isTricopter()) {
-						//Add fields to the end for the tail servo
-						blackboxWrite(',');
-
-						for (additionalHeader = blackboxAdditionalFieldsTricopter[headerXmitIndex]; *additionalHeader; additionalHeader++)
-							blackboxWrite(*additionalHeader);
-					}
-
-					blackboxWrite('\n');
-					headerXmitIndex++;
-					charXmitIndex = 0;
-				} else {
-					charXmitIndex = i;
-				}
-			} else {
-				//Completed sending field information
-
-				if (feature(FEATURE_GPS)) {
-					blackboxState = BLACKBOX_STATE_SEND_GPS_HEADERS;
-				} else {
-					blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
-				}
-				headerXmitIndex = 0;
-			}
-		break;
-		case BLACKBOX_STATE_SEND_GPS_HEADERS:
-			for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxGpsHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
-				blackboxWrite(blackboxGpsHeader[headerXmitIndex]);
-
-			if (blackboxGpsHeader[headerXmitIndex] == '\0') {
-				blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
-				headerXmitIndex = 0;
-			}
-		break;
-		case BLACKBOX_STATE_SEND_SYSINFO:
-
-			switch (headerXmitIndex) {
-				case 0:
-					blackboxPrintf("H Firmware type:Cleanflight\n");
-				break;
-				case 1:
-					// Pause to allow more time for previous to transmit (it exceeds our chunk size)
-				break;
-				case 2:
-					blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
-				break;
-				case 3:
-					// Pause to allow more time for previous to transmit
-				break;
-				case 4:
-					blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
-				break;
-				case 5:
-					// Pause to allow more time for previous to transmit
-				break;
-				case 6:
-					blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
-				break;
-				case 7:
-					blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
-				break;
-				case 8:
-					blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
-				break;
-				case 9:
-					floatConvert.f = gyro.scale;
-					blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
-				break;
-				case 10:
-					blackboxPrintf("H acc_1G:%u\n", acc_1G);
-				break;
-				case 11:
-					// One more pause for good luck
-				break;
-				default:
-					blackboxState = BLACKBOX_STATE_RUNNING;
-			}
-
-			headerXmitIndex++;
-		break;
-		case BLACKBOX_STATE_RUNNING:
-			// Write a keyframe every 32 frames so we can resynchronise upon missing frames
-			blackboxIntercycleIndex = blackboxIteration % BLACKBOX_I_INTERVAL;
-			blackboxIntracycleIndex = blackboxIteration / BLACKBOX_I_INTERVAL;
-
-			if (blackboxIntercycleIndex == 0) {
-	        	// Copy current system values into the blackbox
-	        	loadBlackboxState();
-				writeIntraframe();
-			} else {
-				if ((blackboxIntercycleIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
-		        	loadBlackboxState();
-		        	writeInterframe();
-		        }
-
-				if (feature(FEATURE_GPS)) {
-					/*
-					 * If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
-					 * GPS home position.
-					 *
-					 * We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
-					 * still be interpreted correctly.
-					 */
-					if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
-						|| (blackboxIntercycleIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIntracycleIndex % 128 == 0)) {
-
-						writeGPSHomeFrame();
-						writeGPSFrame();
-					} else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
-							|| GPS_coord[1] != gpsHistory.GPS_coord[1]) {
-						//We could check for velocity changes as well but I doubt it changes independent of position
-						writeGPSFrame();
-					}
-				}
-			}
-
-			blackboxIteration++;
-		break;
-		default:
-		break;
-	}
-}
-
-static bool canUseBlackboxWithCurrentConfiguration(void)
-{
-    if (!feature(FEATURE_BLACKBOX))
-        return false;
-
-    return true;
-}
-
-void initBlackbox(void)
-{
-	if (canUseBlackboxWithCurrentConfiguration())
-		blackboxState = BLACKBOX_STATE_STOPPED;
-	else
-		blackboxState = BLACKBOX_STATE_DISABLED;
-}
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <string.h>
+#include <stdarg.h>
+
+#include "platform.h"
+#include "version.h"
+
+#include "common/maths.h"
+#include "common/axis.h"
+#include "common/color.h"
+
+#include "drivers/accgyro.h"
+#include "drivers/light_led.h"
+
+#include "drivers/gpio.h"
+#include "drivers/system.h"
+#include "drivers/serial.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+
+#include "common/printf.h"
+
+#include "flight/flight.h"
+#include "sensors/sensors.h"
+#include "sensors/boardalignment.h"
+#include "sensors/sonar.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/gyro.h"
+#include "sensors/battery.h"
+#include "io/beeper.h"
+#include "io/display.h"
+#include "io/escservo.h"
+#include "rx/rx.h"
+#include "io/rc_controls.h"
+#include "flight/mixer.h"
+#include "flight/altitudehold.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/autotune.h"
+#include "flight/navigation.h"
+#include "io/gimbal.h"
+#include "io/gps.h"
+#include "io/ledstrip.h"
+#include "io/serial.h"
+#include "io/serial_cli.h"
+#include "io/serial_msp.h"
+#include "io/statusindicator.h"
+#include "rx/msp.h"
+#include "telemetry/telemetry.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#include "blackbox_fielddefs.h"
+#include "blackbox.h"
+
+#define BLACKBOX_BAUDRATE 115200
+#define BLACKBOX_INITIAL_PORT_MODE MODE_TX
+#define BLACKBOX_I_INTERVAL 32
+
+// Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
+#define STR_HELPER(x) #x
+#define STR(x) STR_HELPER(x)
+
+#define CONCAT_HELPER(x,y) x ## y
+#define CONCAT(x,y) CONCAT_HELPER(x, y)
+
+#define PREDICT(x) STR(CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x))
+#define ENCODING(x) STR(CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x))
+
+static const char blackboxHeader[] =
+    "H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
+    "H Blackbox version:1\n"
+    "H Data version:1\n"
+    "H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
+
+/* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
+static const char * const blackboxHeaderFields[] = {
+    "H Field I name:"
+        "loopIteration,time,"
+        "axisP[0],axisP[1],axisP[2],"
+        "axisI[0],axisI[1],axisI[2],"
+        "axisD[0],axisD[1],axisD[2],"
+        "rcCommand[0],rcCommand[1],rcCommand[2],rcCommand[3],"
+        "gyroData[0],gyroData[1],gyroData[2],"
+        "accSmooth[0],accSmooth[1],accSmooth[2],"
+        "motor[0],motor[1],motor[2],motor[3],"
+        "motor[4],motor[5],motor[6],motor[7]",
+
+    "H Field I signed:"
+        /* loopIteration, time: */
+        "0,0,"
+        /* PIDs: */
+        "1,1,1,1,1,1,1,1,1,"
+        /* rcCommand[0..2] */
+        "1,1,1,"
+        /* rcCommand[3] (Throttle): */
+        "0,"
+        /* gyroData[0..2]: */
+        "1,1,1,"
+        /* accSmooth[0..2]: */
+        "1,1,1,"
+        /* Motor[0..7]: */
+        "0,0,0,0,0,0,0,0",
+
+    "H Field I predictor:"
+        /* loopIteration, time: */
+        PREDICT(0) "," PREDICT(0) ","
+        /* PIDs: */
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        /* rcCommand[0..2] */
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        /* rcCommand[3] (Throttle): */
+        PREDICT(MINTHROTTLE) ","
+        /* gyroData[0..2]: */
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        /* accSmooth[0..2]: */
+        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
+        /* Motor[0]: */
+        PREDICT(MINTHROTTLE) ","
+        /* Motor[1..7]: */
+        PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
+        PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
+        PREDICT(MOTOR_0),
+
+    "H Field I encoding:"
+        /* loopIteration, time: */
+        ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) ","
+        /* PIDs: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* rcCommand[0..2] */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* rcCommand[3] (Throttle): */
+        ENCODING(UNSIGNED_VB) ","
+        /* gyroData[0..2]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* accSmooth[0..2]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* Motor[0]: */
+        ENCODING(UNSIGNED_VB) ","
+        /* Motor[1..7]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB),
+
+    //Motors and gyros predict an average of the last two measurements (to reduce the impact of noise):
+    "H Field P predictor:"
+        /* loopIteration, time: */
+        PREDICT(INC) "," PREDICT(STRAIGHT_LINE) ","
+        /* PIDs: */
+        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+        /* rcCommand[0..2] */
+        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
+        /* rcCommand[3] (Throttle): */
+        PREDICT(PREVIOUS) ","
+        /* gyroData[0..2]: */
+        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+        /* accSmooth[0..2]: */
+        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+        /* Motor[0]: */
+        PREDICT(AVERAGE_2) ","
+        /* Motor[1..7]: */
+        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
+        PREDICT(AVERAGE_2),
+
+    /* RC fields are encoded together as a group, everything else is signed since they're diffs: */
+    "H Field P encoding:"
+        /* loopIteration, time: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
+        /* PIDs: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(TAG2_3S32) "," ENCODING(TAG2_3S32) ","  ENCODING(TAG2_3S32) ","
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* rcCommand[0..3] */
+        ENCODING(TAG8_4S16) "," ENCODING(TAG8_4S16) ","  ENCODING(TAG8_4S16) ","
+        ENCODING(TAG8_4S16) ","
+        /* gyroData[0..2]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* accSmooth[0..2]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        /* Motor[0]: */
+        ENCODING(SIGNED_VB) ","
+        /* Motor[1..7]: */
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
+        ENCODING(SIGNED_VB)
+};
+
+/**
+ * Additional fields to tack on to those above for tricopters (to record tail servo position)
+ */
+static const char * const blackboxAdditionalFieldsTricopter[] = {
+    //Field I name
+        "servo[5]",
+
+    //Field I signed
+        "0",
+
+    //Field I predictor
+        PREDICT(1500),
+
+    //Field I encoding:
+        ENCODING(SIGNED_VB),
+
+    //Field P predictor:
+        PREDICT(PREVIOUS),
+
+    //Field P encoding:
+        ENCODING(SIGNED_VB)
+};
+
+static const char blackboxGpsHeader[] =
+    "H Field G name:"
+        "GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed\n"
+    "H Field G signed:"
+        "0,1,1,0,0\n"
+    "H Field G predictor:"
+        PREDICT(0) "," PREDICT(HOME_COORD) "," PREDICT(HOME_COORD) "," PREDICT(0) "," PREDICT(0) "\n"
+    "H Field G encoding:"
+        ENCODING(UNSIGNED_VB) "," ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
+        ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) "\n"
+
+    "H Field H name:"
+        "GPS_home[0],GPS_home[1]\n"
+    "H Field H signed:"
+        "1,1\n"
+    "H Field H predictor:"
+        PREDICT(0) "," PREDICT(0) "\n"
+    "H Field H encoding:"
+        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) "\n";
+
+typedef enum BlackboxState {
+    BLACKBOX_STATE_DISABLED = 0,
+    BLACKBOX_STATE_STOPPED,
+    BLACKBOX_STATE_SEND_HEADER,
+    BLACKBOX_STATE_SEND_FIELDINFO,
+    BLACKBOX_STATE_SEND_GPS_HEADERS,
+    BLACKBOX_STATE_SEND_SYSINFO,
+    BLACKBOX_STATE_RUNNING
+} BlackboxState;
+
+typedef struct gpsState_t {
+    int32_t GPS_home[2], GPS_coord[2];
+    uint8_t GPS_numSat;
+} gpsState_t;
+
+//From mixer.c:
+extern uint8_t motorCount;
+
+//From mw.c:
+extern uint32_t currentTime;
+
+static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
+static uint32_t startTime;
+static unsigned int headerXmitIndex;
+static uint32_t blackboxIteration;
+
+static serialPort_t *blackboxPort;
+static portMode_t previousPortMode;
+static uint32_t previousBaudRate;
+
+static gpsState_t gpsHistory;
+
+// Keep a history of length 2, plus a buffer for MW to store the new values into
+static blackboxValues_t blackboxHistoryRing[3];
+
+// These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
+static blackboxValues_t* blackboxHistory[3];
+
+static int isTricopter()
+{
+    return masterConfig.mixerConfiguration == MULTITYPE_TRI;
+}
+
+static void blackboxWrite(uint8_t value)
+{
+    serialWrite(blackboxPort, value);
+}
+
+static void _putc(void *p, char c)
+{
+    (void)p;
+    serialWrite(blackboxPort, c);
+}
+
+//printf() to the blackbox serial port with no blocking shenanigans (so it's caller's responsibility to not write too fast!)
+static void blackboxPrintf(char *fmt, ...)
+{
+    va_list va;
+    va_start(va, fmt);
+    tfp_format(NULL, _putc, fmt, va);
+    va_end(va);
+}
+
+/**
+ * Write an unsigned integer to the blackbox serial port using variable byte encoding.
+ */
+static void writeUnsignedVB(uint32_t value)
+{
+    //While this isn't the final byte (we can only write 7 bits at a time)
+    while (value > 127) {
+        blackboxWrite((uint8_t) (value | 0x80)); // Set the high bit to mean "more bytes follow"
+        value >>= 7;
+    }
+    blackboxWrite(value);
+}
+
+/**
+ * Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding.
+ */
+static void writeSignedVB(int32_t value)
+{
+    //ZigZag encode to make the value always positive
+    writeUnsignedVB((uint32_t)((value << 1) ^ (value >> 31)));
+}
+
+/**
+ * Write a 2 bit tag followed by 3 signed fields of 2, 4, 6 or 32 bits
+ */
+static void writeTag2_3S32(int32_t *values) {
+    static const int NUM_FIELDS = 3;
+
+    //Need to be enums rather than const ints if we want to switch on them (due to being C)
+    enum { BITS_2  = 0};
+    enum { BITS_4  = 1};
+    enum { BITS_6  = 2};
+    enum { BITS_32 = 3};
+
+    enum { BYTES_1  = 0};
+    enum { BYTES_2  = 1};
+    enum { BYTES_3  = 2};
+    enum { BYTES_4  = 3};
+
+    int x;
+    int selector = BITS_2, selector2;
+
+    /*
+     * Find out how many bits the largest value requires to encode, and use it to choose one of the packing schemes
+     * below:
+     *
+     * Selector possibilities
+     *
+     * 2 bits per field  ss11 2233,
+     * 4 bits per field  ss00 1111 2222 3333
+     * 6 bits per field  ss11 1111 0022 2222 0033 3333
+     * 32 bits per field sstt tttt followed by fields of various byte counts
+     */
+    for (x = 0; x < NUM_FIELDS; x++) {
+        //Require more than 6 bits?
+        if (values[x] >= 32 || values[x] < -32) {
+            selector = BITS_32;
+            break;
+        }
+
+        //Require more than 4 bits?
+        if (values[x] >= 8 || values[x] < -8) {
+             if (selector < BITS_6)
+                 selector = BITS_6;
+        } else if (values[x] >= 2 || values[x] < -2) { //Require more than 2 bits?
+            if (selector < BITS_4)
+                selector = BITS_4;
+        }
+    }
+
+    switch (selector) {
+        case BITS_2:
+            blackboxWrite((selector << 6) | ((values[0] & 0x03) << 4) | ((values[1] & 0x03) << 2) | (values[2] & 0x03));
+        break;
+        case BITS_4:
+            blackboxWrite((selector << 6) | (values[0] & 0x0F));
+            blackboxWrite((values[1] << 4) | (values[2] & 0x0F));
+        break;
+        case BITS_6:
+            blackboxWrite((selector << 6) | (values[0] & 0x3F));
+            blackboxWrite((uint8_t)values[1]);
+            blackboxWrite((uint8_t)values[2]);
+        break;
+        case BITS_32:
+            /*
+             * Do another round to compute a selector for each field, assuming that they are at least 8 bits each
+             *
+             * Selector2 field possibilities
+             * 0 - 8 bits
+             * 1 - 16 bits
+             * 2 - 24 bits
+             * 3 - 32 bits
+             */
+            selector2 = 0;
+
+            //Encode in reverse order so the first field is in the low bits:
+            for (x = NUM_FIELDS - 1; x >= 0; x--) {
+                selector2 <<= 2;
+
+                if (values[x] < 128 && values[x] >= -128)
+                    selector2 |= BYTES_1;
+                else if (values[x] < 32768 && values[x] >= -32768)
+                    selector2 |= BYTES_2;
+                else if (values[x] < 8388608 && values[x] >= -8388608)
+                    selector2 |= BYTES_3;
+                else
+                    selector2 |= BYTES_4;
+            }
+
+            //Write the selectors
+            blackboxWrite((selector << 6) | selector2);
+
+            //And now the values according to the selectors we picked for them
+            for (x = 0; x < NUM_FIELDS; x++, selector2 >>= 2) {
+                switch (selector2 & 0x03) {
+                    case BYTES_1:
+                        blackboxWrite(values[x]);
+                    break;
+                    case BYTES_2:
+                        blackboxWrite(values[x]);
+                        blackboxWrite(values[x] >> 8);
+                    break;
+                    case BYTES_3:
+                        blackboxWrite(values[x]);
+                        blackboxWrite(values[x] >> 8);
+                        blackboxWrite(values[x] >> 16);
+                    break;
+                    case BYTES_4:
+                        blackboxWrite(values[x]);
+                        blackboxWrite(values[x] >> 8);
+                        blackboxWrite(values[x] >> 16);
+                        blackboxWrite(values[x] >> 24);
+                    break;
+                }
+            }
+        break;
+    }
+}
+
+/**
+ * Write an 8-bit selector followed by four signed fields of size 0, 4, 8 or 16 bits.
+ */
+static void writeTag8_4S16(int32_t *values) {
+
+    //Need to be enums rather than const ints if we want to switch on them (due to being C)
+    enum { FIELD_ZERO  = 0};
+    enum { FIELD_4BIT  = 1};
+    enum { FIELD_8BIT  = 2};
+    enum { FIELD_16BIT = 3};
+
+    uint8_t selector;
+    int x;
+
+    /*
+     * 4-bit fields can only be combined with their paired neighbor (there are two pairs), so choose a
+     * larger encoding if that's not possible.
+     */
+    const uint8_t rcSelectorCleanup[16] = {
+    //          Output selectors     <- Input selectors
+        FIELD_ZERO << 2 | FIELD_ZERO,   // zero, zero
+        FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 4-bit
+        FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 8-bit
+        FIELD_ZERO << 2 | FIELD_16BIT,  // zero, 16-bit
+        FIELD_8BIT << 2 | FIELD_ZERO,   // 4-bit, zero
+        FIELD_4BIT << 2 | FIELD_4BIT,   // 4-bit, 4-bit
+        FIELD_8BIT << 2 | FIELD_8BIT,   // 4-bit, 8-bit
+        FIELD_8BIT << 2 | FIELD_16BIT,  // 4-bit, 16-bit
+        FIELD_8BIT << 2 | FIELD_ZERO,   // 8-bit, zero
+        FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 4-bit
+        FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 8-bit
+        FIELD_8BIT << 2 | FIELD_16BIT,  // 8-bit, 16-bit
+        FIELD_16BIT << 2 | FIELD_ZERO,  // 16-bit, zero
+        FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 4-bit
+        FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 8-bit
+        FIELD_16BIT << 2 | FIELD_16BIT, // 16-bit, 16-bit
+    };
+
+    selector = 0;
+    //Encode in reverse order so the first field is in the low bits:
+    for (x = 3; x >= 0; x--) {
+        selector <<= 2;
+
+        if (values[x] == 0)
+            selector |= FIELD_ZERO;
+        else if (values[x] <= 7 && values[x] >= -8)
+            selector |= FIELD_4BIT;
+        else if (values[x] <= 127 && values[x] >= -128)
+            selector |= FIELD_8BIT;
+        else
+            selector |= FIELD_16BIT;
+    }
+
+    selector = rcSelectorCleanup[selector & 0x0F] | (rcSelectorCleanup[selector >> 4] << 4);
+
+    blackboxWrite(selector);
+
+    for (x = 0; x < 4; x++, selector >>= 2) {
+        switch (selector & 0x03) {
+            case FIELD_4BIT:
+                blackboxWrite((values[x] & 0x0F) | (values[x + 1] << 4));
+
+                //We write two selector fields:
+                x++;
+                selector >>= 2;
+            break;
+            case FIELD_8BIT:
+                blackboxWrite(values[x]);
+            break;
+            case FIELD_16BIT:
+                blackboxWrite(values[x]);
+                blackboxWrite(values[x] >> 8);
+            break;
+        }
+    }
+}
+
+static void writeIntraframe(void)
+{
+    blackboxValues_t *blackboxCurrent = blackboxHistory[0];
+    int x;
+
+    blackboxWrite('I');
+
+    writeUnsignedVB(blackboxIteration);
+    writeUnsignedVB(blackboxCurrent->time);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->axisP[x]);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->axisI[x]);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->axisD[x]);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->rcCommand[x]);
+
+    writeUnsignedVB(blackboxCurrent->rcCommand[3] - masterConfig.escAndServoConfig.minthrottle); //Throttle lies in range [minthrottle..maxthrottle]
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->gyroData[x]);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->accSmooth[x]);
+
+    //Motors can be below minthrottle when disarmed, but that doesn't happen much
+    writeUnsignedVB(blackboxCurrent->motor[0] - masterConfig.escAndServoConfig.minthrottle);
+
+    //Motors tend to be similar to each other
+    for (x = 1; x < motorCount; x++)
+        writeSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
+
+    if (isTricopter())
+        writeSignedVB(blackboxHistory[0]->servo[5] - 1500);
+
+    //Rotate our history buffers:
+
+    //The current state becomes the new "before" state
+    blackboxHistory[1] = blackboxHistory[0];
+    //And since we have no other history, we also use it for the "before, before" state
+    blackboxHistory[2] = blackboxHistory[0];
+    //And advance the current state over to a blank space ready to be filled
+    blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+}
+
+static void writeInterframe(void)
+{
+    int x;
+    int32_t deltas[4];
+
+    blackboxValues_t *blackboxCurrent = blackboxHistory[0];
+    blackboxValues_t *blackboxLast = blackboxHistory[1];
+
+    blackboxWrite('P');
+
+    //No need to store iteration count since its delta is always 1
+
+    /*
+     * Since the difference between the difference between successive times will be nearly zero, use
+     * second-order differences.
+     */
+    writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
+
+    for (x = 0; x < 3; x++)
+        deltas[x] = blackboxCurrent->axisI[x] - blackboxLast->axisI[x];
+
+    /* 
+     * The PID I field changes very slowly, most of the time +-2, so use an encoding
+     * that can pack all three fields into one byte in that situation.
+     */
+    writeTag2_3S32(deltas);
+    
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
+
+    for (x = 0; x < 4; x++)
+        deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+
+    /*
+     * RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
+     * can pack multiple values per byte:
+     */
+    writeTag8_4S16(deltas);
+
+    //Since gyros, accs and motors are noisy, base the prediction on the average of the history:
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
+
+    for (x = 0; x < 3; x++)
+        writeSignedVB(blackboxHistory[0]->accSmooth[x] - (blackboxHistory[1]->accSmooth[x] + blackboxHistory[2]->accSmooth[x]) / 2);
+
+    for (x = 0; x < motorCount; x++)
+        writeSignedVB(blackboxHistory[0]->motor[x] - (blackboxHistory[1]->motor[x] + blackboxHistory[2]->motor[x]) / 2);
+
+    if (isTricopter())
+        writeSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
+
+    //Rotate our history buffers
+    blackboxHistory[2] = blackboxHistory[1];
+    blackboxHistory[1] = blackboxHistory[0];
+    blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+}
+
+static int gcd(int num, int denom)
+{
+    if (denom == 0)
+        return num;
+    return gcd(denom, num % denom);
+}
+
+static void validateBlackboxConfig()
+{
+    int div;
+
+    if (masterConfig.blackbox_rate_num == 0 || masterConfig.blackbox_rate_denom == 0
+            || masterConfig.blackbox_rate_num >= masterConfig.blackbox_rate_denom) {
+        masterConfig.blackbox_rate_num = 1;
+        masterConfig.blackbox_rate_denom = 1;
+    } else {
+        div = gcd(masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
+
+        masterConfig.blackbox_rate_num /= div;
+        masterConfig.blackbox_rate_denom /= div;
+    }
+}
+
+static void configureBlackboxPort(void)
+{
+    blackboxPort = findOpenSerialPort(FUNCTION_BLACKBOX);
+    if (blackboxPort) {
+        previousPortMode = blackboxPort->mode;
+        previousBaudRate = blackboxPort->baudRate;
+
+        serialSetBaudRate(blackboxPort, BLACKBOX_BAUDRATE);
+        serialSetMode(blackboxPort, BLACKBOX_INITIAL_PORT_MODE);
+        beginSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
+    } else {
+        blackboxPort = openSerialPort(FUNCTION_BLACKBOX, NULL, BLACKBOX_BAUDRATE, BLACKBOX_INITIAL_PORT_MODE, SERIAL_NOT_INVERTED);
+
+        if (blackboxPort) {
+            previousPortMode = blackboxPort->mode;
+            previousBaudRate = blackboxPort->baudRate;
+        }
+    }
+}
+
+static void releaseBlackboxPort(void)
+{
+    serialSetMode(blackboxPort, previousPortMode);
+    serialSetBaudRate(blackboxPort, previousBaudRate);
+
+    endSerialPortFunction(blackboxPort, FUNCTION_BLACKBOX);
+}
+
+void startBlackbox(void)
+{
+    if (blackboxState == BLACKBOX_STATE_STOPPED) {
+        validateBlackboxConfig();
+
+        configureBlackboxPort();
+
+        if (!blackboxPort) {
+            blackboxState = BLACKBOX_STATE_DISABLED;
+            return;
+        }
+
+        startTime = millis();
+        headerXmitIndex = 0;
+        blackboxIteration = 0;
+        blackboxState = BLACKBOX_STATE_SEND_HEADER;
+
+        memset(&gpsHistory, 0, sizeof(gpsHistory));
+
+        //No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
+
+        blackboxHistory[0] = &blackboxHistoryRing[0];
+        blackboxHistory[1] = &blackboxHistoryRing[1];
+        blackboxHistory[2] = &blackboxHistoryRing[2];
+    }
+}
+
+void finishBlackbox(void)
+{
+    if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
+        blackboxState = BLACKBOX_STATE_STOPPED;
+        
+        releaseBlackboxPort();
+    }
+}
+
+static void writeGPSHomeFrame()
+{
+    blackboxWrite('H');
+
+    writeSignedVB(GPS_home[0]);
+    writeSignedVB(GPS_home[1]);
+    //TODO it'd be great if we could grab the GPS current time and write that too
+
+    gpsHistory.GPS_home[0] = GPS_home[0];
+    gpsHistory.GPS_home[1] = GPS_home[1];
+}
+
+static void writeGPSFrame()
+{
+    blackboxWrite('G');
+
+    writeUnsignedVB(GPS_numSat);
+    writeSignedVB(GPS_coord[0] - gpsHistory.GPS_home[0]);
+    writeSignedVB(GPS_coord[1] - gpsHistory.GPS_home[1]);
+    writeUnsignedVB(GPS_altitude);
+    writeUnsignedVB(GPS_speed);
+
+    gpsHistory.GPS_numSat = GPS_numSat;
+    gpsHistory.GPS_coord[0] = GPS_coord[0];
+    gpsHistory.GPS_coord[1] = GPS_coord[1];
+}
+
+/**
+ * Fill the current state of the blackbox using values read from the flight controller
+ */
+static void loadBlackboxState(void)
+{
+    blackboxValues_t *blackboxCurrent = blackboxHistory[0];
+    int i;
+
+    blackboxCurrent->time = currentTime;
+
+    for (i = 0; i < 3; i++)
+        blackboxCurrent->axisP[i] = axisP[i];
+    for (i = 0; i < 3; i++)
+        blackboxCurrent->axisI[i] = axisI[i];
+    for (i = 0; i < 3; i++)
+        blackboxCurrent->axisD[i] = axisD[i];
+
+    for (i = 0; i < 4; i++)
+        blackboxCurrent->rcCommand[i] = rcCommand[i];
+
+    for (i = 0; i < 3; i++)
+        blackboxCurrent->gyroData[i] = gyroData[i];
+
+    for (i = 0; i < 3; i++)
+        blackboxCurrent->accSmooth[i] = accSmooth[i];
+
+    for (i = 0; i < motorCount; i++)
+        blackboxCurrent->motor[i] = motor[i];
+
+    //Tail servo for tricopters
+    blackboxCurrent->servo[5] = servo[5];
+}
+
+void handleBlackbox(void)
+{
+    int i;
+    const char *additionalHeader;
+    const int SERIAL_CHUNK_SIZE = 16;
+    static int charXmitIndex = 0;
+    int motorsToRemove, endIndex;
+    int blackboxIntercycleIndex, blackboxIntracycleIndex;
+
+    union floatConvert_t {
+        float f;
+        uint32_t u;
+    } floatConvert;
+
+    switch (blackboxState) {
+        case BLACKBOX_STATE_SEND_HEADER:
+            /*
+             * Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
+             * buffer.
+             */
+            if (millis() > startTime + 100) {
+                for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
+                    blackboxWrite(blackboxHeader[headerXmitIndex]);
+
+                if (blackboxHeader[headerXmitIndex] == '\0') {
+                    blackboxState = BLACKBOX_STATE_SEND_FIELDINFO;
+                    headerXmitIndex = 0;
+                    charXmitIndex = 0;
+                }
+            }
+        break;
+        case BLACKBOX_STATE_SEND_FIELDINFO:
+            /*
+             * Send information about the fields we're recording to the log.
+             *
+             * Once again, we're chunking up the data so we don't exceed our datarate. This time we're trimming the
+             * excess field defs off the end of the header for motors we don't have.
+             */
+            motorsToRemove = 8 - motorCount;
+
+            if (headerXmitIndex < sizeof(blackboxHeaderFields) / sizeof(blackboxHeaderFields[0])){
+                endIndex = strlen(blackboxHeaderFields[headerXmitIndex]) - (headerXmitIndex == 0 ? strlen(",motor[x]") : strlen(",x")) * motorsToRemove;
+
+                for (i = charXmitIndex; i < charXmitIndex + SERIAL_CHUNK_SIZE && i < endIndex; i++)
+                    blackboxWrite(blackboxHeaderFields[headerXmitIndex][i]);
+
+                // Did we complete this line?
+                if (i == endIndex) {
+                    if (isTricopter()) {
+                        //Add fields to the end for the tail servo
+                        blackboxWrite(',');
+
+                        for (additionalHeader = blackboxAdditionalFieldsTricopter[headerXmitIndex]; *additionalHeader; additionalHeader++)
+                            blackboxWrite(*additionalHeader);
+                    }
+
+                    blackboxWrite('\n');
+                    headerXmitIndex++;
+                    charXmitIndex = 0;
+                } else {
+                    charXmitIndex = i;
+                }
+            } else {
+                //Completed sending field information
+
+                if (feature(FEATURE_GPS)) {
+                    blackboxState = BLACKBOX_STATE_SEND_GPS_HEADERS;
+                } else {
+                    blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
+                }
+                headerXmitIndex = 0;
+            }
+        break;
+        case BLACKBOX_STATE_SEND_GPS_HEADERS:
+            for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxGpsHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
+                blackboxWrite(blackboxGpsHeader[headerXmitIndex]);
+
+            if (blackboxGpsHeader[headerXmitIndex] == '\0') {
+                blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
+                headerXmitIndex = 0;
+            }
+        break;
+        case BLACKBOX_STATE_SEND_SYSINFO:
+
+            switch (headerXmitIndex) {
+                case 0:
+                    blackboxPrintf("H Firmware type:Cleanflight\n");
+                break;
+                case 1:
+                    // Pause to allow more time for previous to transmit (it exceeds our chunk size)
+                break;
+                case 2:
+                    blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
+                break;
+                case 3:
+                    // Pause to allow more time for previous to transmit
+                break;
+                case 4:
+                    blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
+                break;
+                case 5:
+                    // Pause to allow more time for previous to transmit
+                break;
+                case 6:
+                    blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
+                break;
+                case 7:
+                    blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
+                break;
+                case 8:
+                    blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
+                break;
+                case 9:
+                    floatConvert.f = gyro.scale;
+                    blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
+                break;
+                case 10:
+                    blackboxPrintf("H acc_1G:%u\n", acc_1G);
+                break;
+                case 11:
+                    // One more pause for good luck
+                break;
+                default:
+                    blackboxState = BLACKBOX_STATE_RUNNING;
+            }
+
+            headerXmitIndex++;
+        break;
+        case BLACKBOX_STATE_RUNNING:
+            // Write a keyframe every 32 frames so we can resynchronise upon missing frames
+            blackboxIntercycleIndex = blackboxIteration % BLACKBOX_I_INTERVAL;
+            blackboxIntracycleIndex = blackboxIteration / BLACKBOX_I_INTERVAL;
+
+            if (blackboxIntercycleIndex == 0) {
+                // Copy current system values into the blackbox
+                loadBlackboxState();
+                writeIntraframe();
+            } else {
+                if ((blackboxIntercycleIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
+                    loadBlackboxState();
+                    writeInterframe();
+                }
+
+                if (feature(FEATURE_GPS)) {
+                    /*
+                     * If the GPS home point has been updated, or every 128 intraframes (~10 seconds), write the
+                     * GPS home position.
+                     *
+                     * We write it periodically so that if one Home Frame goes missing, the GPS coordinates can
+                     * still be interpreted correctly.
+                     */
+                    if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
+                        || (blackboxIntercycleIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIntracycleIndex % 128 == 0)) {
+
+                        writeGPSHomeFrame();
+                        writeGPSFrame();
+                    } else if (GPS_numSat != gpsHistory.GPS_numSat || GPS_coord[0] != gpsHistory.GPS_coord[0]
+                            || GPS_coord[1] != gpsHistory.GPS_coord[1]) {
+                        //We could check for velocity changes as well but I doubt it changes independent of position
+                        writeGPSFrame();
+                    }
+                }
+            }
+
+            blackboxIteration++;
+        break;
+        default:
+        break;
+    }
+}
+
+static bool canUseBlackboxWithCurrentConfiguration(void)
+{
+    if (!feature(FEATURE_BLACKBOX))
+        return false;
+
+    return true;
+}
+
+void initBlackbox(void)
+{
+    if (canUseBlackboxWithCurrentConfiguration())
+        blackboxState = BLACKBOX_STATE_STOPPED;
+    else
+        blackboxState = BLACKBOX_STATE_DISABLED;
+}
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index de5cc344d7..84804b3828 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -1,37 +1,37 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-#include <stdint.h>
-
-typedef struct blackboxValues_t {
-	uint32_t time;
-
-	int32_t axisP[3], axisI[3], axisD[3];
-
-	int16_t rcCommand[4];
-	int16_t gyroData[3];
-	int16_t accSmooth[3];
-	int16_t motor[MAX_SUPPORTED_MOTORS];
-	int16_t servo[MAX_SUPPORTED_SERVOS];
-} blackboxValues_t;
-
-void initBlackbox(void);
-void handleBlackbox(void);
-void startBlackbox(void);
-void finishBlackbox(void);
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+typedef struct blackboxValues_t {
+    uint32_t time;
+
+    int32_t axisP[3], axisI[3], axisD[3];
+
+    int16_t rcCommand[4];
+    int16_t gyroData[3];
+    int16_t accSmooth[3];
+    int16_t motor[MAX_SUPPORTED_MOTORS];
+    int16_t servo[MAX_SUPPORTED_SERVOS];
+} blackboxValues_t;
+
+void initBlackbox(void);
+void handleBlackbox(void);
+void startBlackbox(void);
+void finishBlackbox(void);
diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index ca1812ca9c..faafe90ef2 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -339,9 +339,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         axisPID[axis] = PTerm + ITerm + DTerm;
 
 #ifdef BLACKBOX
-		axisP[axis] = PTerm;
-		axisI[axis] = ITerm;
-		axisD[axis] = DTerm;
+        axisP[axis] = PTerm;
+        axisI[axis] = ITerm;
+        axisD[axis] = DTerm;
 #endif
     }
 }
diff --git a/src/main/mw.c b/src/main/mw.c
index e6607cbccb..f6fbee39dc 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -307,7 +307,7 @@ void mwDisarm(void)
 
 #ifdef BLACKBOX
         if (feature(FEATURE_BLACKBOX)) {
-        	finishBlackbox();
+            finishBlackbox();
             if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
                 mspAllocateSerialPorts(&masterConfig.serialConfig);
             }
@@ -341,7 +341,7 @@ void mwArm(void)
                 if (sharedBlackboxAndMspPort) {
                     mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
                 }
-            	startBlackbox();
+                startBlackbox();
             }
 #endif
             return;
@@ -700,9 +700,9 @@ void loop(void)
         writeMotors();
 
 #ifdef BLACKBOX
-	    if (!cliMode && feature(FEATURE_BLACKBOX)) {
-	        handleBlackbox();
-	    }
+        if (!cliMode && feature(FEATURE_BLACKBOX)) {
+            handleBlackbox();
+        }
 #endif
     }
 

From 8226922d46ca2ca7231886e67dbd9b919f3c5996 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 18 Dec 2014 18:44:56 +1300
Subject: [PATCH 09/24] Note supported flight controllers

---
 docs/Blackbox.md | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/docs/Blackbox.md b/docs/Blackbox.md
index 6ee4e6e717..5933b1afaa 100644
--- a/docs/Blackbox.md
+++ b/docs/Blackbox.md
@@ -41,6 +41,10 @@ data rate. The default looptime on Cleanflight is 3500. If you're using a loopti
 need to reduce the sampling rate in the Blackbox settings, see the later section on configuring the Blackbox feature for
 details.
 
+The Blackbox feature is currently available on the Naze32 and Naze32Pro targets. It may work on other targets, but you 
+will need to enable those manually in `/src/main/target/xxx/target.h` by adding a `#define BLACKBOX` statement and 
+recompile Cleanflight.
+
 ## Hardware
 The blackbox software is designed to be used with an [OpenLog serial data logger][] and a microSDHC card. You need a
 little prep to get the OpenLog ready for use, so here are the details:
@@ -58,7 +62,7 @@ The original OpenLog firmware may work with acceptable error rates if you use lo
 
 [OpenLog serial data logger]: https://www.sparkfun.com/products/9530
 [OpenLog Lite firmware]: https://github.com/sparkfun/OpenLog/tree/master/firmware/OpenLog_v3_Light
-[this version][]: https://raw.githubusercontent.com/thenickdude/blackbox/blackbox/tools/blackbox/openlog/OpenLog_v3_Light.cpp.hex
+[this version]: https://raw.githubusercontent.com/thenickdude/blackbox/blackbox/tools/blackbox/openlog/OpenLog_v3_Light.cpp.hex
 [Required libraries]: https://code.google.com/p/beta-lib/downloads/detail?name=SerialLoggerBeta20120108.zip&can=4&q=
 [FTDI Basic Breakout]: https://www.sparkfun.com/products/9716
 [FTDI crossover]: https://www.sparkfun.com/products/10660

From cdb3cc0dd3ed39b24122914f3f08583f289f7540 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Thu, 18 Dec 2014 18:47:13 +1300
Subject: [PATCH 10/24] Whitespace

---
 src/main/flight/flight.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index faafe90ef2..1f4eb4c4b4 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -250,9 +250,9 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         axisPID[axis] = PTerm + ITerm - DTerm;
 
 #ifdef BLACKBOX
-		axisP[axis] = PTerm;
-		axisI[axis] = ITerm;
-		axisD[axis] = -DTerm;
+        axisP[axis] = PTerm;
+        axisI[axis] = ITerm;
+        axisD[axis] = -DTerm;
 #endif
     }
 }

From 54ead59791aa656f0ae13845d1776ebf6a2f1b05 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 19 Dec 2014 00:24:51 +1300
Subject: [PATCH 11/24] Rename axisP to less-cryptic axisPID_P (same for I and
 D)

---
 src/main/blackbox/blackbox.c | 20 ++++++++++----------
 src/main/blackbox/blackbox.h |  2 +-
 src/main/flight/flight.c     | 14 +++++++-------
 src/main/flight/flight.h     |  2 +-
 4 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index baad91d3fc..2736b6d00c 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -191,7 +191,7 @@ static const char * const blackboxHeaderFields[] = {
         PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
         PREDICT(AVERAGE_2),
 
-    /* RC fields are encoded together as a group, everything else is signed since they're diffs: */
+    /* PID_I terms and RC fields are encoded together as groups, everything else is signed since they're diffs: */
     "H Field P encoding:"
         /* loopIteration, time: */
         ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
@@ -547,13 +547,13 @@ static void writeIntraframe(void)
     writeUnsignedVB(blackboxCurrent->time);
 
     for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisP[x]);
+        writeSignedVB(blackboxCurrent->axisPID_P[x]);
 
     for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisI[x]);
+        writeSignedVB(blackboxCurrent->axisPID_I[x]);
 
     for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisD[x]);
+        writeSignedVB(blackboxCurrent->axisPID_D[x]);
 
     for (x = 0; x < 3; x++)
         writeSignedVB(blackboxCurrent->rcCommand[x]);
@@ -605,10 +605,10 @@ static void writeInterframe(void)
     writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
 
     for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisP[x] - blackboxLast->axisP[x]);
+        writeSignedVB(blackboxCurrent->axisPID_P[x] - blackboxLast->axisPID_P[x]);
 
     for (x = 0; x < 3; x++)
-        deltas[x] = blackboxCurrent->axisI[x] - blackboxLast->axisI[x];
+        deltas[x] = blackboxCurrent->axisPID_I[x] - blackboxLast->axisPID_I[x];
 
     /* 
      * The PID I field changes very slowly, most of the time +-2, so use an encoding
@@ -617,7 +617,7 @@ static void writeInterframe(void)
     writeTag2_3S32(deltas);
     
     for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisD[x] - blackboxLast->axisD[x]);
+        writeSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
 
     for (x = 0; x < 4; x++)
         deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
@@ -772,11 +772,11 @@ static void loadBlackboxState(void)
     blackboxCurrent->time = currentTime;
 
     for (i = 0; i < 3; i++)
-        blackboxCurrent->axisP[i] = axisP[i];
+        blackboxCurrent->axisPID_P[i] = axisPID_P[i];
     for (i = 0; i < 3; i++)
-        blackboxCurrent->axisI[i] = axisI[i];
+        blackboxCurrent->axisPID_I[i] = axisPID_I[i];
     for (i = 0; i < 3; i++)
-        blackboxCurrent->axisD[i] = axisD[i];
+        blackboxCurrent->axisPID_D[i] = axisPID_D[i];
 
     for (i = 0; i < 4; i++)
         blackboxCurrent->rcCommand[i] = rcCommand[i];
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 84804b3828..8f88fec526 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -22,7 +22,7 @@
 typedef struct blackboxValues_t {
     uint32_t time;
 
-    int32_t axisP[3], axisI[3], axisD[3];
+    int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
     int16_t rcCommand[4];
     int16_t gyroData[3];
diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c
index 1f4eb4c4b4..9da2c24742 100644
--- a/src/main/flight/flight.c
+++ b/src/main/flight/flight.c
@@ -44,7 +44,7 @@ int16_t heading, magHold;
 int16_t axisPID[3];
 
 #ifdef BLACKBOX
-int32_t axisP[3], axisI[3], axisD[3];
+int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
 
 uint8_t dynP8[3], dynI8[3], dynD8[3];
@@ -250,9 +250,9 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
         axisPID[axis] = PTerm + ITerm - DTerm;
 
 #ifdef BLACKBOX
-        axisP[axis] = PTerm;
-        axisI[axis] = ITerm;
-        axisD[axis] = -DTerm;
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = -DTerm;
 #endif
     }
 }
@@ -339,9 +339,9 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
         axisPID[axis] = PTerm + ITerm + DTerm;
 
 #ifdef BLACKBOX
-        axisP[axis] = PTerm;
-        axisI[axis] = ITerm;
-        axisD[axis] = DTerm;
+        axisPID_P[axis] = PTerm;
+        axisPID_I[axis] = ITerm;
+        axisPID_D[axis] = DTerm;
 #endif
     }
 }
diff --git a/src/main/flight/flight.h b/src/main/flight/flight.h
index ebccf21906..158ac23a79 100644
--- a/src/main/flight/flight.h
+++ b/src/main/flight/flight.h
@@ -127,7 +127,7 @@ extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AX
 extern int32_t accSum[XYZ_AXIS_COUNT];
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 
-extern int32_t axisP[3], axisI[3], axisD[3];
+extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
 extern int16_t heading, magHold;
 

From 50c81aa00e808902e64a92f70b59aee7dd6dec0d Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 19 Dec 2014 02:06:44 +1300
Subject: [PATCH 12/24] Make tag8_4S16 encoding more space efficent.

This replaces the older encoding variant, so the data version number has
been bumped.
---
 src/main/blackbox/blackbox.c | 111 +++++++++++++++++++----------------
 1 file changed, 60 insertions(+), 51 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 2736b6d00c..a32d9f09c1 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -92,7 +92,7 @@
 static const char blackboxHeader[] =
     "H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
     "H Blackbox version:1\n"
-    "H Data version:1\n"
+    "H Data version:2\n"
     "H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
 
 /* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
@@ -349,15 +349,19 @@ static void writeTag2_3S32(int32_t *values) {
     static const int NUM_FIELDS = 3;
 
     //Need to be enums rather than const ints if we want to switch on them (due to being C)
-    enum { BITS_2  = 0};
-    enum { BITS_4  = 1};
-    enum { BITS_6  = 2};
-    enum { BITS_32 = 3};
+    enum {
+        BITS_2  = 0,
+        BITS_4  = 1,
+        BITS_6  = 2,
+        BITS_32 = 3
+    };
 
-    enum { BYTES_1  = 0};
-    enum { BYTES_2  = 1};
-    enum { BYTES_3  = 2};
-    enum { BYTES_4  = 3};
+    enum {
+        BYTES_1  = 0,
+        BYTES_2  = 1,
+        BYTES_3  = 2,
+        BYTES_4  = 3
+    };
 
     int x;
     int selector = BITS_2, selector2;
@@ -465,38 +469,17 @@ static void writeTag2_3S32(int32_t *values) {
 static void writeTag8_4S16(int32_t *values) {
 
     //Need to be enums rather than const ints if we want to switch on them (due to being C)
-    enum { FIELD_ZERO  = 0};
-    enum { FIELD_4BIT  = 1};
-    enum { FIELD_8BIT  = 2};
-    enum { FIELD_16BIT = 3};
-
-    uint8_t selector;
-    int x;
-
-    /*
-     * 4-bit fields can only be combined with their paired neighbor (there are two pairs), so choose a
-     * larger encoding if that's not possible.
-     */
-    const uint8_t rcSelectorCleanup[16] = {
-    //          Output selectors     <- Input selectors
-        FIELD_ZERO << 2 | FIELD_ZERO,   // zero, zero
-        FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 4-bit
-        FIELD_ZERO << 2 | FIELD_8BIT,   // zero, 8-bit
-        FIELD_ZERO << 2 | FIELD_16BIT,  // zero, 16-bit
-        FIELD_8BIT << 2 | FIELD_ZERO,   // 4-bit, zero
-        FIELD_4BIT << 2 | FIELD_4BIT,   // 4-bit, 4-bit
-        FIELD_8BIT << 2 | FIELD_8BIT,   // 4-bit, 8-bit
-        FIELD_8BIT << 2 | FIELD_16BIT,  // 4-bit, 16-bit
-        FIELD_8BIT << 2 | FIELD_ZERO,   // 8-bit, zero
-        FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 4-bit
-        FIELD_8BIT << 2 | FIELD_8BIT,   // 8-bit, 8-bit
-        FIELD_8BIT << 2 | FIELD_16BIT,  // 8-bit, 16-bit
-        FIELD_16BIT << 2 | FIELD_ZERO,  // 16-bit, zero
-        FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 4-bit
-        FIELD_16BIT << 2 | FIELD_8BIT,  // 16-bit, 8-bit
-        FIELD_16BIT << 2 | FIELD_16BIT, // 16-bit, 16-bit
+    enum {
+        FIELD_ZERO  = 0,
+        FIELD_4BIT  = 1,
+        FIELD_8BIT  = 2,
+        FIELD_16BIT = 3
     };
 
+    uint8_t selector, buffer;
+    int nibbleIndex;
+    int x;
+
     selector = 0;
     //Encode in reverse order so the first field is in the low bits:
     for (x = 3; x >= 0; x--) {
@@ -504,36 +487,62 @@ static void writeTag8_4S16(int32_t *values) {
 
         if (values[x] == 0)
             selector |= FIELD_ZERO;
-        else if (values[x] <= 7 && values[x] >= -8)
+        else if (values[x] < 8 && values[x] >= -8)
             selector |= FIELD_4BIT;
-        else if (values[x] <= 127 && values[x] >= -128)
+        else if (values[x] < 128 && values[x] >= -128)
             selector |= FIELD_8BIT;
         else
             selector |= FIELD_16BIT;
     }
 
-    selector = rcSelectorCleanup[selector & 0x0F] | (rcSelectorCleanup[selector >> 4] << 4);
-
     blackboxWrite(selector);
 
+    nibbleIndex = 0;
+    buffer = 0;
     for (x = 0; x < 4; x++, selector >>= 2) {
         switch (selector & 0x03) {
+            case FIELD_ZERO:
+                //No-op
+            break;
             case FIELD_4BIT:
-                blackboxWrite((values[x] & 0x0F) | (values[x + 1] << 4));
-
-                //We write two selector fields:
-                x++;
-                selector >>= 2;
+                if (nibbleIndex == 0) {
+                    //We fill high-bits first
+                    buffer = values[x] << 4;
+                    nibbleIndex = 1;
+                } else {
+                    blackboxWrite(buffer | (values[x] & 0x0F));
+                    nibbleIndex = 0;
+                }
             break;
             case FIELD_8BIT:
-                blackboxWrite(values[x]);
+                if (nibbleIndex == 0)
+                    blackboxWrite(values[x]);
+                else {
+                    //Write the high bits of the value first (mask to avoid sign extension)
+                    blackboxWrite(buffer | ((values[x] >> 4) & 0x0F));
+                    //Now put the leftover low bits into the top of the next buffer entry
+                    buffer = values[x] << 4;
+                }
             break;
             case FIELD_16BIT:
-                blackboxWrite(values[x]);
-                blackboxWrite(values[x] >> 8);
+                if (nibbleIndex == 0) {
+                    //Write high byte first
+                    blackboxWrite(values[x] >> 8);
+                    blackboxWrite(values[x]);
+                } else {
+                    //First write the highest 4 bits
+                    blackboxWrite(buffer | ((values[x] >> 12) & 0x0F));
+                    // Then the middle 8
+                    blackboxWrite(values[x] >> 4);
+                    //Only the smallest 4 bits are still left to write
+                    buffer = values[x] << 4;
+                }
             break;
         }
     }
+    //Anything left over to write?
+    if (nibbleIndex == 1)
+        blackboxWrite(buffer);
 }
 
 static void writeIntraframe(void)

From 9b9474250ee9cb079c1a4528e1766612093e1908 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Sat, 20 Dec 2014 16:51:38 +1300
Subject: [PATCH 13/24] Header definitions now provided by a struct instead of
 lots of strings

Introduce mechanism for disabling log fields at logging-start
Remove a div/mod from handleBlackbox()
Bring code required to be executed upon state transitions into a central
setState() routine.
---
 src/main/blackbox/blackbox.c           | 538 ++++++++++++++-----------
 src/main/blackbox/blackbox_fielddefs.h | 127 +++---
 2 files changed, 374 insertions(+), 291 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a32d9f09c1..1623f5afaf 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -79,6 +79,8 @@
 #define BLACKBOX_INITIAL_PORT_MODE MODE_TX
 #define BLACKBOX_I_INTERVAL 32
 
+#define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
+
 // Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
@@ -86,8 +88,11 @@
 #define CONCAT_HELPER(x,y) x ## y
 #define CONCAT(x,y) CONCAT_HELPER(x, y)
 
-#define PREDICT(x) STR(CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x))
-#define ENCODING(x) STR(CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x))
+#define PREDICT(x) CONCAT(FLIGHT_LOG_FIELD_PREDICTOR_, x)
+#define ENCODING(x) CONCAT(FLIGHT_LOG_FIELD_ENCODING_, x)
+#define CONDITION(x) CONCAT(FLIGHT_LOG_FIELD_CONDITION_, x)
+#define UNSIGNED FLIGHT_LOG_FIELD_UNSIGNED
+#define SIGNED FLIGHT_LOG_FIELD_SIGNED
 
 static const char blackboxHeader[] =
     "H Product:Blackbox flight data recorder by Nicholas Sherlock\n"
@@ -95,174 +100,115 @@ static const char blackboxHeader[] =
     "H Data version:2\n"
     "H I interval:" STR(BLACKBOX_I_INTERVAL) "\n";
 
-/* These headers have info for all 8 motors on them, we'll trim the final fields off to match the number of motors in the mixer: */
-static const char * const blackboxHeaderFields[] = {
-    "H Field I name:"
-        "loopIteration,time,"
-        "axisP[0],axisP[1],axisP[2],"
-        "axisI[0],axisI[1],axisI[2],"
-        "axisD[0],axisD[1],axisD[2],"
-        "rcCommand[0],rcCommand[1],rcCommand[2],rcCommand[3],"
-        "gyroData[0],gyroData[1],gyroData[2],"
-        "accSmooth[0],accSmooth[1],accSmooth[2],"
-        "motor[0],motor[1],motor[2],motor[3],"
-        "motor[4],motor[5],motor[6],motor[7]",
-
-    "H Field I signed:"
-        /* loopIteration, time: */
-        "0,0,"
-        /* PIDs: */
-        "1,1,1,1,1,1,1,1,1,"
-        /* rcCommand[0..2] */
-        "1,1,1,"
-        /* rcCommand[3] (Throttle): */
-        "0,"
-        /* gyroData[0..2]: */
-        "1,1,1,"
-        /* accSmooth[0..2]: */
-        "1,1,1,"
-        /* Motor[0..7]: */
-        "0,0,0,0,0,0,0,0",
-
-    "H Field I predictor:"
-        /* loopIteration, time: */
-        PREDICT(0) "," PREDICT(0) ","
-        /* PIDs: */
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        /* rcCommand[0..2] */
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        /* rcCommand[3] (Throttle): */
-        PREDICT(MINTHROTTLE) ","
-        /* gyroData[0..2]: */
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        /* accSmooth[0..2]: */
-        PREDICT(0) "," PREDICT(0) "," PREDICT(0) ","
-        /* Motor[0]: */
-        PREDICT(MINTHROTTLE) ","
-        /* Motor[1..7]: */
-        PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
-        PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) "," PREDICT(MOTOR_0) ","
-        PREDICT(MOTOR_0),
-
-    "H Field I encoding:"
-        /* loopIteration, time: */
-        ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) ","
-        /* PIDs: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* rcCommand[0..2] */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* rcCommand[3] (Throttle): */
-        ENCODING(UNSIGNED_VB) ","
-        /* gyroData[0..2]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* accSmooth[0..2]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* Motor[0]: */
-        ENCODING(UNSIGNED_VB) ","
-        /* Motor[1..7]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB),
-
-    //Motors and gyros predict an average of the last two measurements (to reduce the impact of noise):
-    "H Field P predictor:"
-        /* loopIteration, time: */
-        PREDICT(INC) "," PREDICT(STRAIGHT_LINE) ","
-        /* PIDs: */
-        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-        /* rcCommand[0..2] */
-        PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) "," PREDICT(PREVIOUS) ","
-        /* rcCommand[3] (Throttle): */
-        PREDICT(PREVIOUS) ","
-        /* gyroData[0..2]: */
-        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-        /* accSmooth[0..2]: */
-        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-        /* Motor[0]: */
-        PREDICT(AVERAGE_2) ","
-        /* Motor[1..7]: */
-        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-        PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) "," PREDICT(AVERAGE_2) ","
-        PREDICT(AVERAGE_2),
-
-    /* PID_I terms and RC fields are encoded together as groups, everything else is signed since they're diffs: */
-    "H Field P encoding:"
-        /* loopIteration, time: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
-        /* PIDs: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(TAG2_3S32) "," ENCODING(TAG2_3S32) ","  ENCODING(TAG2_3S32) ","
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* rcCommand[0..3] */
-        ENCODING(TAG8_4S16) "," ENCODING(TAG8_4S16) ","  ENCODING(TAG8_4S16) ","
-        ENCODING(TAG8_4S16) ","
-        /* gyroData[0..2]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* accSmooth[0..2]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        /* Motor[0]: */
-        ENCODING(SIGNED_VB) ","
-        /* Motor[1..7]: */
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","  ENCODING(SIGNED_VB) ","
-        ENCODING(SIGNED_VB)
+static const char* const blackboxMainHeaderNames[] = {
+    "I name",
+    "I signed",
+    "I predictor",
+    "I encoding",
+    "P predictor",
+    "P encoding"
 };
 
-/**
- * Additional fields to tack on to those above for tricopters (to record tail servo position)
- */
-static const char * const blackboxAdditionalFieldsTricopter[] = {
-    //Field I name
-        "servo[5]",
-
-    //Field I signed
-        "0",
-
-    //Field I predictor
-        PREDICT(1500),
-
-    //Field I encoding:
-        ENCODING(SIGNED_VB),
-
-    //Field P predictor:
-        PREDICT(PREVIOUS),
-
-    //Field P encoding:
-        ENCODING(SIGNED_VB)
+static const char* const blackboxGPSGHeaderNames[] = {
+    "G name",
+    "G signed",
+    "G predictor",
+    "G encoding"
 };
 
-static const char blackboxGpsHeader[] =
-    "H Field G name:"
-        "GPS_numSat,GPS_coord[0],GPS_coord[1],GPS_altitude,GPS_speed\n"
-    "H Field G signed:"
-        "0,1,1,0,0\n"
-    "H Field G predictor:"
-        PREDICT(0) "," PREDICT(HOME_COORD) "," PREDICT(HOME_COORD) "," PREDICT(0) "," PREDICT(0) "\n"
-    "H Field G encoding:"
-        ENCODING(UNSIGNED_VB) "," ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) ","
-        ENCODING(UNSIGNED_VB) "," ENCODING(UNSIGNED_VB) "\n"
+static const char* const blackboxGPSHHeaderNames[] = {
+    "H name",
+    "H signed",
+    "H predictor",
+    "H encoding"
+};
 
-    "H Field H name:"
-        "GPS_home[0],GPS_home[1]\n"
-    "H Field H signed:"
-        "1,1\n"
-    "H Field H predictor:"
-        PREDICT(0) "," PREDICT(0) "\n"
-    "H Field H encoding:"
-        ENCODING(SIGNED_VB) "," ENCODING(SIGNED_VB) "\n";
+/* All field definition structs should look like this (but with longer arrs): */
+typedef struct blackboxFieldDefinition_t {
+    const char *name;
+    uint8_t arr[1];
+} blackboxFieldDefinition_t;
+
+typedef struct blackboxMainFieldDefinition_t {
+    const char *name;
+    uint8_t isSigned;
+    uint8_t Ipredict;
+    uint8_t Iencode;
+    uint8_t Ppredict;
+    uint8_t Pencode;
+    uint8_t condition; // Decide whether this field should appear in the log
+} blackboxMainFieldDefinition_t;
+
+typedef struct blackboxGPSFieldDefinition_t {
+    const char *name;
+    uint8_t isSigned;
+    uint8_t predict;
+    uint8_t encode;
+} blackboxGPSFieldDefinition_t;
+
+static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
+    /* loopIteration doesn't appear in P frames since it always increments */
+    {"loopIteration", UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC),           .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
+    /* Time advances pretty steadily so the P-frame prediction is a straight line */
+    {"time",          UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(STRAIGHT_LINE), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisP[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisP[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisP[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    /* I terms get special packed encoding in P frames: */
+    {"axisI[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
+    {"axisI[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
+    {"axisI[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
+    {"axisD[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisD[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisD[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    /* rcCommands are encoded together as a group in P-frames: */
+    {"rcCommand[0]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    {"rcCommand[1]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    {"rcCommand[2]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    /* Throttle is always in the range [minthrottle..maxthrottle]: */
+    {"rcCommand[3]",  UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),  .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+    /* 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)},
+    {"gyroData[1]",   SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"gyroData[2]",   SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"accSmooth[0]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"accSmooth[1]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"accSmooth[2]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
+    {"motor[0]",      UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
+    /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
+    {"motor[1]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
+    {"motor[2]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
+    {"motor[3]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_4)},
+    {"motor[4]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_5)},
+    {"motor[5]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_6)},
+    {"motor[6]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_7)},
+    {"motor[7]",      UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_8)},
+    {"servo[5]",      UNSIGNED, .Ipredict = PREDICT(1500),    .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
+};
+
+// GPS position/vel frame
+static const blackboxGPSFieldDefinition_t blackboxGpsGFields[] = {
+    {"GPS_numSat",    UNSIGNED, PREDICT(0),          ENCODING(UNSIGNED_VB)},
+    {"GPS_coord[0]",  SIGNED,   PREDICT(HOME_COORD), ENCODING(SIGNED_VB)},
+    {"GPS_coord[1]",  SIGNED,   PREDICT(HOME_COORD), ENCODING(SIGNED_VB)},
+    {"GPS_altitude",  UNSIGNED, PREDICT(0),          ENCODING(UNSIGNED_VB)},
+    {"GPS_speed",     UNSIGNED, PREDICT(0),          ENCODING(UNSIGNED_VB)}
+};
+
+// GPS home frame
+static const blackboxGPSFieldDefinition_t blackboxGpsHFields[] = {
+    {"GPS_home[0]",   SIGNED,   PREDICT(0),          ENCODING(SIGNED_VB)},
+    {"GPS_home[1]",   SIGNED,   PREDICT(0),          ENCODING(SIGNED_VB)}
+};
 
 typedef enum BlackboxState {
     BLACKBOX_STATE_DISABLED = 0,
     BLACKBOX_STATE_STOPPED,
     BLACKBOX_STATE_SEND_HEADER,
     BLACKBOX_STATE_SEND_FIELDINFO,
-    BLACKBOX_STATE_SEND_GPS_HEADERS,
+    BLACKBOX_STATE_SEND_GPS_H_HEADERS,
+    BLACKBOX_STATE_SEND_GPS_G_HEADERS,
     BLACKBOX_STATE_SEND_SYSINFO,
     BLACKBOX_STATE_RUNNING
 } BlackboxState;
@@ -278,10 +224,16 @@ extern uint8_t motorCount;
 //From mw.c:
 extern uint32_t currentTime;
 
+static const int SERIAL_CHUNK_SIZE = 16;
+
 static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
+
 static uint32_t startTime;
 static unsigned int headerXmitIndex;
+static int fieldXmitIndex;
+
 static uint32_t blackboxIteration;
+static uint32_t blackboxPFrameIndex, blackboxIFrameIndex;
 
 static serialPort_t *blackboxPort;
 static portMode_t previousPortMode;
@@ -295,11 +247,6 @@ static blackboxValues_t blackboxHistoryRing[3];
 // These point into blackboxHistoryRing, use them to know where to store history of a given age (0, 1 or 2 generations old)
 static blackboxValues_t* blackboxHistory[3];
 
-static int isTricopter()
-{
-    return masterConfig.mixerConfiguration == MULTITYPE_TRI;
-}
-
 static void blackboxWrite(uint8_t value)
 {
     serialWrite(blackboxPort, value);
@@ -320,6 +267,19 @@ static void blackboxPrintf(char *fmt, ...)
     va_end(va);
 }
 
+// Print the null-terminated string 's' to the serial port and return the number of bytes written
+static int blackboxPrint(const char *s)
+{
+    const char *pos = s;
+
+    while (*pos) {
+        serialWrite(blackboxPort, *pos);
+        pos++;
+    }
+
+    return pos - s;
+}
+
 /**
  * Write an unsigned integer to the blackbox serial port using variable byte encoding.
  */
@@ -545,6 +505,64 @@ static void writeTag8_4S16(int32_t *values) {
         blackboxWrite(buffer);
 }
 
+static bool testBlackboxCondition(FlightLogFieldCondition condition)
+{
+    switch (condition) {
+        case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
+            return true;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
+            return motorCount >= 1;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
+            return motorCount >= 2;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
+            return motorCount >= 3;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
+            return motorCount >= 4;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
+            return motorCount >= 5;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
+            return motorCount >= 6;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
+            return motorCount >= 7;
+        case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
+            return motorCount >= 8;
+        case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
+            return masterConfig.mixerConfiguration == MULTITYPE_TRI;
+        case FLIGHT_LOG_FIELD_CONDITION_NEVER:
+            return false;
+        default:
+            return false;
+    }
+}
+
+static void blackboxSetState(BlackboxState newState)
+{
+    //Perform initial setup required for the new state
+    switch (newState) {
+        case BLACKBOX_STATE_SEND_HEADER:
+            startTime = millis();
+            headerXmitIndex = 0;
+        break;
+        case BLACKBOX_STATE_SEND_FIELDINFO:
+        case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
+        case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
+            headerXmitIndex = 0;
+            fieldXmitIndex = -1;
+        break;
+        case BLACKBOX_STATE_SEND_SYSINFO:
+            headerXmitIndex = 0;
+        break;
+        case BLACKBOX_STATE_RUNNING:
+            blackboxIteration = 0;
+            blackboxPFrameIndex = 0;
+            blackboxIFrameIndex = 0;
+        break;
+        default:
+            ;
+    }
+    blackboxState = newState;
+}
+
 static void writeIntraframe(void)
 {
     blackboxValues_t *blackboxCurrent = blackboxHistory[0];
@@ -582,7 +600,7 @@ static void writeIntraframe(void)
     for (x = 1; x < motorCount; x++)
         writeSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
 
-    if (isTricopter())
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER))
         writeSignedVB(blackboxHistory[0]->servo[5] - 1500);
 
     //Rotate our history buffers:
@@ -647,7 +665,7 @@ static void writeInterframe(void)
     for (x = 0; x < motorCount; x++)
         writeSignedVB(blackboxHistory[0]->motor[x] - (blackboxHistory[1]->motor[x] + blackboxHistory[2]->motor[x]) / 2);
 
-    if (isTricopter())
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER))
         writeSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
 
     //Rotate our history buffers
@@ -715,29 +733,26 @@ void startBlackbox(void)
         configureBlackboxPort();
 
         if (!blackboxPort) {
-            blackboxState = BLACKBOX_STATE_DISABLED;
+            blackboxSetState(BLACKBOX_STATE_DISABLED);
             return;
         }
 
-        startTime = millis();
-        headerXmitIndex = 0;
-        blackboxIteration = 0;
-        blackboxState = BLACKBOX_STATE_SEND_HEADER;
-
         memset(&gpsHistory, 0, sizeof(gpsHistory));
 
-        //No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
-
         blackboxHistory[0] = &blackboxHistoryRing[0];
         blackboxHistory[1] = &blackboxHistoryRing[1];
         blackboxHistory[2] = &blackboxHistoryRing[2];
+
+        //No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
+
+        blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
     }
 }
 
 void finishBlackbox(void)
 {
     if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED) {
-        blackboxState = BLACKBOX_STATE_STOPPED;
+        blackboxSetState(BLACKBOX_STATE_STOPPED);
         
         releaseBlackboxPort();
     }
@@ -803,14 +818,81 @@ static void loadBlackboxState(void)
     blackboxCurrent->servo[5] = servo[5];
 }
 
+/**
+ * Transmit the header information for the given field definitions. Transmitted header lines look like:
+ *
+ * H Field I name:a,b,c
+ * H Field I predictor:0,1,2
+ *
+ * Provide an array 'conditions' of FlightLogFieldCondition enums if you want these conditions to decide whether a field
+ * should be included or not. Otherwise provide NULL for this parameter and NULL for secondCondition.
+ *
+ * Set headerXmitIndex to 0 and fieldXmitIndex to -1 before calling for the first time.
+ *
+ * secondFieldDefinition and secondCondition element pointers need to be provided in order to compute the stride of the
+ * fieldDefinition and secondCondition arrays.
+ *
+ * Returns true if there is still header left to transmit (so call again to continue transmission).
+ */
+static bool sendFieldDefinition(const char * const *headerNames, unsigned int headerCount, const void *fieldDefinitions,
+        const void *secondFieldDefinition, int fieldCount, const uint8_t *conditions, const uint8_t *secondCondition)
+{
+    const blackboxFieldDefinition_t *def;
+    int charsWritten;
+    static bool needComma = false;
+    size_t definitionStride = (char*) secondFieldDefinition - (char*) fieldDefinitions;
+    size_t conditionsStride = (char*) secondCondition - (char*) conditions;
+
+    /*
+     * Send information about the fields we're recording to the log. Once again, we're chunking up the data so we don't exceed our datarate.
+     */
+    if (fieldXmitIndex == -1) {
+        if (headerXmitIndex >= headerCount)
+            return false; //Someone probably called us again after we had already completed transmission
+
+        charsWritten = blackboxPrint("H Field ");
+        charsWritten += blackboxPrint(headerNames[headerXmitIndex]);
+        charsWritten += blackboxPrint(":");
+
+        fieldXmitIndex++;
+        needComma = false;
+    } else
+        charsWritten = 0;
+
+    for (; fieldXmitIndex < fieldCount && charsWritten < SERIAL_CHUNK_SIZE; fieldXmitIndex++) {
+        def = (const blackboxFieldDefinition_t*) ((const char*)fieldDefinitions + definitionStride * fieldXmitIndex);
+
+        if (!conditions || testBlackboxCondition(conditions[conditionsStride * fieldXmitIndex])) {
+            if (needComma) {
+                blackboxWrite(',');
+                charsWritten++;
+            } else
+                needComma = true;
+
+            // The first header is a field name
+            if (headerXmitIndex == 0) {
+                charsWritten += blackboxPrint(def->name);
+            } else {
+                //The other headers are integers (format as single digit for now):
+                blackboxWrite(def->arr[headerXmitIndex - 1] + '0');
+                charsWritten++;
+            }
+        }
+    }
+
+    // Did we complete this line?
+    if (fieldXmitIndex == fieldCount) {
+        blackboxWrite('\n');
+        headerXmitIndex++;
+        fieldXmitIndex = -1;
+    }
+
+    return headerXmitIndex < headerCount;
+}
+
 void handleBlackbox(void)
 {
     int i;
-    const char *additionalHeader;
-    const int SERIAL_CHUNK_SIZE = 16;
-    static int charXmitIndex = 0;
-    int motorsToRemove, endIndex;
-    int blackboxIntercycleIndex, blackboxIntracycleIndex;
 
     union floatConvert_t {
         float f;
@@ -819,6 +901,8 @@ void handleBlackbox(void)
 
     switch (blackboxState) {
         case BLACKBOX_STATE_SEND_HEADER:
+            //On entry of this state, headerXmitIndex is 0 and startTime is intialised
+
             /*
              * Once the UART has had time to init, transmit the header in chunks so we don't overflow our transmit
              * buffer.
@@ -828,65 +912,36 @@ void handleBlackbox(void)
                     blackboxWrite(blackboxHeader[headerXmitIndex]);
 
                 if (blackboxHeader[headerXmitIndex] == '\0') {
-                    blackboxState = BLACKBOX_STATE_SEND_FIELDINFO;
-                    headerXmitIndex = 0;
-                    charXmitIndex = 0;
+                    blackboxSetState(BLACKBOX_STATE_SEND_FIELDINFO);
                 }
             }
         break;
         case BLACKBOX_STATE_SEND_FIELDINFO:
-            /*
-             * Send information about the fields we're recording to the log.
-             *
-             * Once again, we're chunking up the data so we don't exceed our datarate. This time we're trimming the
-             * excess field defs off the end of the header for motors we don't have.
-             */
-            motorsToRemove = 8 - motorCount;
-
-            if (headerXmitIndex < sizeof(blackboxHeaderFields) / sizeof(blackboxHeaderFields[0])){
-                endIndex = strlen(blackboxHeaderFields[headerXmitIndex]) - (headerXmitIndex == 0 ? strlen(",motor[x]") : strlen(",x")) * motorsToRemove;
-
-                for (i = charXmitIndex; i < charXmitIndex + SERIAL_CHUNK_SIZE && i < endIndex; i++)
-                    blackboxWrite(blackboxHeaderFields[headerXmitIndex][i]);
-
-                // Did we complete this line?
-                if (i == endIndex) {
-                    if (isTricopter()) {
-                        //Add fields to the end for the tail servo
-                        blackboxWrite(',');
-
-                        for (additionalHeader = blackboxAdditionalFieldsTricopter[headerXmitIndex]; *additionalHeader; additionalHeader++)
-                            blackboxWrite(*additionalHeader);
-                    }
-
-                    blackboxWrite('\n');
-                    headerXmitIndex++;
-                    charXmitIndex = 0;
-                } else {
-                    charXmitIndex = i;
-                }
-            } else {
-                //Completed sending field information
-
-                if (feature(FEATURE_GPS)) {
-                    blackboxState = BLACKBOX_STATE_SEND_GPS_HEADERS;
-                } else {
-                    blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
-                }
-                headerXmitIndex = 0;
+            //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
+            if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, &blackboxMainFields[1],
+                    ARRAY_LENGTH(blackboxMainFields), &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
+                if (feature(FEATURE_GPS))
+                    blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADERS);
+                else
+                    blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
             }
         break;
-        case BLACKBOX_STATE_SEND_GPS_HEADERS:
-            for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxGpsHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
-                blackboxWrite(blackboxGpsHeader[headerXmitIndex]);
-
-            if (blackboxGpsHeader[headerXmitIndex] == '\0') {
-                blackboxState = BLACKBOX_STATE_SEND_SYSINFO;
-                headerXmitIndex = 0;
+        case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
+            //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
+            if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, &blackboxGpsHFields[1],
+                    ARRAY_LENGTH(blackboxGpsHFields), NULL, 0)) {
+                blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADERS);
+            }
+        break;
+        case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
+            //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
+            if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, &blackboxGpsGFields[1],
+                    ARRAY_LENGTH(blackboxGpsGFields), NULL, 0)) {
+                blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
             }
         break;
         case BLACKBOX_STATE_SEND_SYSINFO:
-
+            //On entry of this state, headerXmitIndex is 0
             switch (headerXmitIndex) {
                 case 0:
                     blackboxPrintf("H Firmware type:Cleanflight\n");
@@ -926,22 +981,21 @@ void handleBlackbox(void)
                     // One more pause for good luck
                 break;
                 default:
-                    blackboxState = BLACKBOX_STATE_RUNNING;
+                    blackboxSetState(BLACKBOX_STATE_RUNNING);
             }
 
             headerXmitIndex++;
         break;
         case BLACKBOX_STATE_RUNNING:
-            // Write a keyframe every 32 frames so we can resynchronise upon missing frames
-            blackboxIntercycleIndex = blackboxIteration % BLACKBOX_I_INTERVAL;
-            blackboxIntracycleIndex = blackboxIteration / BLACKBOX_I_INTERVAL;
+            // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
 
-            if (blackboxIntercycleIndex == 0) {
+            // Write a keyframe every BLACKBOX_I_INTERVAL frames so we can resynchronise upon missing frames
+            if (blackboxPFrameIndex == 0) {
                 // Copy current system values into the blackbox
                 loadBlackboxState();
                 writeIntraframe();
             } else {
-                if ((blackboxIntercycleIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
+                if ((blackboxPFrameIndex + masterConfig.blackbox_rate_num - 1) % masterConfig.blackbox_rate_denom < masterConfig.blackbox_rate_num) {
                     loadBlackboxState();
                     writeInterframe();
                 }
@@ -955,7 +1009,7 @@ void handleBlackbox(void)
                      * still be interpreted correctly.
                      */
                     if (GPS_home[0] != gpsHistory.GPS_home[0] || GPS_home[1] != gpsHistory.GPS_home[1]
-                        || (blackboxIntercycleIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIntracycleIndex % 128 == 0)) {
+                        || (blackboxPFrameIndex == BLACKBOX_I_INTERVAL / 2 && blackboxIFrameIndex % 128 == 0)) {
 
                         writeGPSHomeFrame();
                         writeGPSFrame();
@@ -968,6 +1022,12 @@ void handleBlackbox(void)
             }
 
             blackboxIteration++;
+            blackboxPFrameIndex++;
+            
+            if (blackboxPFrameIndex == BLACKBOX_I_INTERVAL) {
+                blackboxPFrameIndex = 0;
+                blackboxIFrameIndex++;
+            }
         break;
         default:
         break;
@@ -985,7 +1045,7 @@ static bool canUseBlackboxWithCurrentConfiguration(void)
 void initBlackbox(void)
 {
     if (canUseBlackboxWithCurrentConfiguration())
-        blackboxState = BLACKBOX_STATE_STOPPED;
+        blackboxSetState(BLACKBOX_STATE_STOPPED);
     else
-        blackboxState = BLACKBOX_STATE_DISABLED;
+        blackboxSetState(BLACKBOX_STATE_DISABLED);
 }
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 1e0dbce1e7..bdea5cbd32 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -1,52 +1,75 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight is free software: you can redistribute it and/or modify
- * it 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-//No prediction:
-#define FLIGHT_LOG_FIELD_PREDICTOR_0              0
-
-//Predict that the field is the same as last frame:
-#define FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS       1
-
-//Predict that the slope between this field and the previous item is the same as that between the past two history items:
-#define FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE  2
-
-//Predict that this field is the same as the average of the last two history items:
-#define FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2      3
-
-//Predict that this field is minthrottle
-#define FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE    4
-
-//Predict that this field is the same as motor 0
-#define FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0        5
-
-//This field always increments
-#define FLIGHT_LOG_FIELD_PREDICTOR_INC            6
-
-//Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
-#define FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     7
-
-//Predict 1500
-#define FLIGHT_LOG_FIELD_PREDICTOR_1500           8
-
-
-#define FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       0
-#define FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     1
-#define FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       7
-#define FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       8
-#define FLIGHT_LOG_FIELD_ENCODING_NULL            9
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef enum FlightLogFieldCondition {
+    FLIGHT_LOG_FIELD_CONDITION_ALWAYS = 0,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
+    FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
+    FLIGHT_LOG_FIELD_CONDITION_TRICOPTER,
+    FLIGHT_LOG_FIELD_CONDITION_NEVER = 255,
+} FlightLogFieldCondition;
+
+typedef enum FlightLogFieldPredictor {
+    //No prediction:
+    FLIGHT_LOG_FIELD_PREDICTOR_0              = 0,
+
+    //Predict that the field is the same as last frame:
+    FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS       = 1,
+
+    //Predict that the slope between this field and the previous item is the same as that between the past two history items:
+    FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE  = 2,
+
+    //Predict that this field is the same as the average of the last two history items:
+    FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2      = 3,
+
+    //Predict that this field is minthrottle
+    FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE    = 4,
+
+    //Predict that this field is the same as motor 0
+    FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0        = 5,
+
+    //This field always increments
+    FLIGHT_LOG_FIELD_PREDICTOR_INC            = 6,
+
+    //Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
+    FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     = 7,
+
+    //Predict 1500
+    FLIGHT_LOG_FIELD_PREDICTOR_1500           = 8
+} FlightLogFieldPredictor;
+
+typedef enum FlightLogFieldEncoding {
+    FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       = 0,
+    FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     = 1,
+    FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       = 7,
+    FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       = 8,
+    FLIGHT_LOG_FIELD_ENCODING_NULL            = 9
+} FlightLogFieldEncoding;
+
+typedef enum FlightLogFieldSign {
+    FLIGHT_LOG_FIELD_UNSIGNED = 0,
+    FLIGHT_LOG_FIELD_SIGNED   = 1
+} FlightLogFieldSign;
+

From 2889f5904ee5dc6d94d38bd234bae3ea07337d8b Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Mon, 22 Dec 2014 23:42:28 +1300
Subject: [PATCH 14/24] Update includes to add new required headers

---
 src/main/blackbox/blackbox.c | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 1623f5afaf..2d3cae3c4d 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -26,14 +26,15 @@
 #include "common/axis.h"
 #include "common/color.h"
 
-#include "drivers/accgyro.h"
-#include "drivers/light_led.h"
-
 #include "drivers/gpio.h"
+#include "drivers/sensor.h"
 #include "drivers/system.h"
 #include "drivers/serial.h"
+#include "drivers/compass.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_rx.h"
+#include "drivers/accgyro.h"
+#include "drivers/light_led.h"
 
 #include "common/printf.h"
 
@@ -844,7 +845,8 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
     size_t conditionsStride = (char*) secondCondition - (char*) conditions;
 
     /*
-     * Send information about the fields we're recording to the log. Once again, we're chunking up the data so we don't exceed our datarate.
+     * We're chunking up the header data so we don't exceed our datarate. So we'll be called multiple times to transmit
+     * the whole header.
      */
     if (fieldXmitIndex == -1) {
         if (headerXmitIndex >= headerCount)
@@ -911,14 +913,13 @@ void handleBlackbox(void)
                 for (i = 0; i < SERIAL_CHUNK_SIZE && blackboxHeader[headerXmitIndex] != '\0'; i++, headerXmitIndex++)
                     blackboxWrite(blackboxHeader[headerXmitIndex]);
 
-                if (blackboxHeader[headerXmitIndex] == '\0') {
+                if (blackboxHeader[headerXmitIndex] == '\0')
                     blackboxSetState(BLACKBOX_STATE_SEND_FIELDINFO);
-                }
             }
         break;
         case BLACKBOX_STATE_SEND_FIELDINFO:
             //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
-            if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, &blackboxMainFields[1],
+            if (!sendFieldDefinition(blackboxMainHeaderNames, ARRAY_LENGTH(blackboxMainHeaderNames), blackboxMainFields, blackboxMainFields + 1,
                     ARRAY_LENGTH(blackboxMainFields), &blackboxMainFields[0].condition, &blackboxMainFields[1].condition)) {
                 if (feature(FEATURE_GPS))
                     blackboxSetState(BLACKBOX_STATE_SEND_GPS_H_HEADERS);
@@ -928,14 +929,14 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_SEND_GPS_H_HEADERS:
             //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
-            if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, &blackboxGpsHFields[1],
+            if (!sendFieldDefinition(blackboxGPSHHeaderNames, ARRAY_LENGTH(blackboxGPSHHeaderNames), blackboxGpsHFields, blackboxGpsHFields + 1,
                     ARRAY_LENGTH(blackboxGpsHFields), NULL, 0)) {
                 blackboxSetState(BLACKBOX_STATE_SEND_GPS_G_HEADERS);
             }
         break;
         case BLACKBOX_STATE_SEND_GPS_G_HEADERS:
             //On entry of this state, headerXmitIndex is 0 and fieldXmitIndex is -1
-            if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, &blackboxGpsGFields[1],
+            if (!sendFieldDefinition(blackboxGPSGHeaderNames, ARRAY_LENGTH(blackboxGPSGHeaderNames), blackboxGpsGFields, blackboxGpsGFields + 1,
                     ARRAY_LENGTH(blackboxGpsGFields), NULL, 0)) {
                 blackboxSetState(BLACKBOX_STATE_SEND_SYSINFO);
             }

From 80082660ce7ae5d9beab8764882e6aa3e65c7a61 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 26 Dec 2014 11:38:48 +1300
Subject: [PATCH 15/24] Add blackbox scenarios to serial documentation

---
 docs/Serial.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docs/Serial.md b/docs/Serial.md
index f35944f864..fcf1d89d75 100644
--- a/docs/Serial.md
+++ b/docs/Serial.md
@@ -46,6 +46,8 @@ To make configuration easier common usage scenarios are listed below.
 7   GPS-PASSTHROUGH ONLY
 8   MSP ONLY
 9   SMARTPORT TELEMETRY ONLY
+10  BLACKBOX ONLY
+11  MSP, CLI, BLACKBOX, GPS-PASSTHROUGH
 ```
 
 ### Constraints

From 5a51ca8d62d06201d9d15d39fe7f5e4e6fdb9764 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 26 Dec 2014 12:06:13 +1300
Subject: [PATCH 16/24] Update references for renamed mixer constants

---
 src/main/blackbox/blackbox.c | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 2d3cae3c4d..0ba5c56f1f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -82,7 +82,7 @@
 
 #define ARRAY_LENGTH(x) (sizeof((x))/sizeof((x)[0]))
 
-// Some macros to make writing FLIGHT_LOG_FIELD_PREDICTOR_* constants shorter:
+// Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
 #define STR_HELPER(x) #x
 #define STR(x) STR_HELPER(x)
 
@@ -147,6 +147,12 @@ typedef struct blackboxGPSFieldDefinition_t {
     uint8_t encode;
 } blackboxGPSFieldDefinition_t;
 
+/**
+ * Description of the blackbox fields we are writing in our main intra (I) and inter (P) frames. This description is
+ * written into the flight log header so the log can be properly interpreted (but these definitions don't actually cause
+ * the encoding to happen, we have to encode the flight log ourselves in write{Inter|Intra}frame() in a way that matches
+ * the encoding we've promised here).
+ */
 static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
     /* loopIteration doesn't appear in P frames since it always increments */
     {"loopIteration", UNSIGNED, .Ipredict = PREDICT(0),       .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(INC),           .Pencode = FLIGHT_LOG_FIELD_ENCODING_NULL, CONDITION(ALWAYS)},
@@ -528,7 +534,7 @@ static bool testBlackboxCondition(FlightLogFieldCondition condition)
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
             return motorCount >= 8;
         case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
-            return masterConfig.mixerConfiguration == MULTITYPE_TRI;
+            return masterConfig.mixerMode == MIXER_TRI;
         case FLIGHT_LOG_FIELD_CONDITION_NEVER:
             return false;
         default:

From ff9dad067c83990be71e60cab44212a2af410e97 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Fri, 26 Dec 2014 19:00:09 +1300
Subject: [PATCH 17/24] Give access to raw battery ADC readings for blackbox

---
 src/main/sensors/battery.c | 3 ++-
 src/main/sensors/battery.h | 1 +
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 186c6804e7..9766d40130 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -31,6 +31,7 @@ uint16_t batteryWarningVoltage;
 uint16_t batteryCriticalVoltage;
 
 uint8_t vbat = 0;                   // battery voltage in 0.1V steps
+uint16_t vbatLatest = 0;            // most recent unsmoothed raw reading from vbat adc
 
 int32_t amperage = 0;               // amperage read by current sensor in centiampere (1/100th A)
 int32_t mAhDrawn = 0;               // milliampere hours drawn from the battery since start
@@ -54,7 +55,7 @@ void updateBatteryVoltage(void)
     uint16_t vbatSampleTotal = 0;
 
     // store the battery voltage with some other recent battery voltage readings
-    vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = adcGetChannel(ADC_BATTERY);
+    vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = vbatLatest = adcGetChannel(ADC_BATTERY);
 
     // calculate vbat based on the average of recent readings
     for (index = 0; index < BATTERY_SAMPLE_COUNT; index++) {
diff --git a/src/main/sensors/battery.h b/src/main/sensors/battery.h
index 6288f9f108..f90395f5fc 100644
--- a/src/main/sensors/battery.h
+++ b/src/main/sensors/battery.h
@@ -42,6 +42,7 @@ typedef enum {
 } batteryState_e;
 
 extern uint8_t vbat;
+extern uint16_t vbatLatest;
 extern uint8_t batteryCellCount;
 extern uint16_t batteryWarningVoltage;
 extern int32_t amperage;

From d195880bb84ba8b78cb93f993ec1e55f3c4a5715 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Sat, 27 Dec 2014 19:17:44 +1300
Subject: [PATCH 18/24] Support logging Vbat, baro, mag

Don't bother logging PID "D" results if the corresponding D setting is
zero
---
 src/main/blackbox/blackbox.c           | 320 ++++++++++++++++++-------
 src/main/blackbox/blackbox.h           |  16 +-
 src/main/blackbox/blackbox_fielddefs.h |  28 ++-
 3 files changed, 276 insertions(+), 88 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 0ba5c56f1f..7895d4b601 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -165,15 +165,26 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
     {"axisI[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
     {"axisI[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
     {"axisI[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG2_3S32), CONDITION(ALWAYS)},
-    {"axisD[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"axisD[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"axisD[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"axisD[0]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_0)},
+    {"axisD[1]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_1)},
+    {"axisD[2]",      SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(SIGNED_VB), CONDITION(NONZERO_PID_D_2)},
     /* rcCommands are encoded together as a group in P-frames: */
     {"rcCommand[0]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
     {"rcCommand[1]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
     {"rcCommand[2]",  SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
     /* Throttle is always in the range [minthrottle..maxthrottle]: */
     {"rcCommand[3]",  UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),  .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
+
+    {"vbatLatest",    UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), CONDITION(ALWAYS)},
+#ifdef MAG
+    {"magADC[0]",     SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
+    {"magADC[1]",     SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
+    {"magADC[2]",     SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
+#endif
+#ifdef BARO
+    {"BaroAlt",       SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
+#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)},
     {"gyroData[1]",   SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@@ -246,6 +257,12 @@ static serialPort_t *blackboxPort;
 static portMode_t previousPortMode;
 static uint32_t previousBaudRate;
 
+/*
+ * We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
+ * This helps out since the voltage is only expected to fall from that point and we can reduce our diffs
+ * to encode:
+ */
+static uint16_t vbatReference;
 static gpsState_t gpsHistory;
 
 // Keep a history of length 2, plus a buffer for MW to store the new values into
@@ -512,29 +529,89 @@ static void writeTag8_4S16(int32_t *values) {
         blackboxWrite(buffer);
 }
 
+/**
+ * Write `valueCount` fields from `values` to the Blackbox using signed variable byte encoding. A 1-byte header is
+ * written first which specifies which fields are non-zero (so this encoding is compact when most fields are zero).
+ *
+ * valueCount must be 8 or less.
+ */
+static void writeTag8_8SVB(int32_t *values, int valueCount)
+{
+    uint8_t header;
+    int i;
+
+    if (valueCount > 0) {
+        //If we're only writing one field then we can skip the header
+        if (valueCount == 1) {
+            writeSignedVB(values[0]);
+        } else {
+            //First write a one-byte header that marks which fields are non-zero
+            header = 0;
+
+            // First field should be in low bits of header
+            for (i = valueCount - 1; i >= 0; i--) {
+                header <<= 1;
+
+                if (values[i] != 0)
+                    header |= 0x01;
+            }
+
+            blackboxWrite(header);
+
+            for (i = 0; i < valueCount; i++)
+                if (values[i] != 0)
+                    writeSignedVB(values[i]);
+        }
+    }
+}
+
 static bool testBlackboxCondition(FlightLogFieldCondition condition)
 {
     switch (condition) {
         case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
             return true;
+
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
-            return motorCount >= 1;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
-            return motorCount >= 2;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
-            return motorCount >= 3;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
-            return motorCount >= 4;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
-            return motorCount >= 5;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
-            return motorCount >= 6;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
-            return motorCount >= 7;
         case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
-            return motorCount >= 8;
+            return motorCount >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
         case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
             return masterConfig.mixerMode == MIXER_TRI;
+
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_2:
+            return currentProfile->pidProfile.P8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0] != 0;
+
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_1:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_2:
+            return currentProfile->pidProfile.I8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0] != 0;
+
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
+        case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2:
+            return currentProfile->pidProfile.D8[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0] != 0;
+
+        case FLIGHT_LOG_FIELD_CONDITION_MAG:
+#ifdef MAG
+            return sensors(SENSOR_MAG);
+#else
+            return false;
+#endif
+
+        case FLIGHT_LOG_FIELD_CONDITION_BARO:
+#ifdef BARO
+            return sensors(SENSOR_BARO);
+#else
+            return false;
+#endif
+
         case FLIGHT_LOG_FIELD_CONDITION_NEVER:
             return false;
         default:
@@ -580,24 +657,45 @@ static void writeIntraframe(void)
     writeUnsignedVB(blackboxIteration);
     writeUnsignedVB(blackboxCurrent->time);
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxCurrent->axisPID_P[x]);
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxCurrent->axisPID_I[x]);
 
-    for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisPID_D[x]);
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
+        if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x))
+            writeSignedVB(blackboxCurrent->axisPID_D[x]);
 
     for (x = 0; x < 3; x++)
         writeSignedVB(blackboxCurrent->rcCommand[x]);
 
     writeUnsignedVB(blackboxCurrent->rcCommand[3] - masterConfig.escAndServoConfig.minthrottle); //Throttle lies in range [minthrottle..maxthrottle]
 
-    for (x = 0; x < 3; x++)
+    /*
+     * Our voltage is expected to decrease over the course of the flight, so store our difference from
+     * the reference:
+     *
+     * Write 14 bits even if the number is negative (which would otherwise result in 32 bits)
+     */
+    writeUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
+
+#ifdef MAG
+        if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
+            for (x = 0; x < XYZ_AXIS_COUNT; x++)
+                writeSignedVB(blackboxCurrent->magADC[x]);
+        }
+#endif
+
+#ifdef BARO
+        if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO))
+            writeSignedVB(blackboxCurrent->BaroAlt);
+#endif
+
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxCurrent->gyroData[x]);
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxCurrent->accSmooth[x]);
 
     //Motors can be below minthrottle when disarmed, but that doesn't happen much
@@ -623,7 +721,7 @@ static void writeIntraframe(void)
 static void writeInterframe(void)
 {
     int x;
-    int32_t deltas[4];
+    int32_t deltas[5];
 
     blackboxValues_t *blackboxCurrent = blackboxHistory[0];
     blackboxValues_t *blackboxLast = blackboxHistory[1];
@@ -638,10 +736,10 @@ static void writeInterframe(void)
      */
     writeSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxCurrent->axisPID_P[x] - blackboxLast->axisPID_P[x]);
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         deltas[x] = blackboxCurrent->axisPID_I[x] - blackboxLast->axisPID_I[x];
 
     /* 
@@ -650,23 +748,46 @@ static void writeInterframe(void)
      */
     writeTag2_3S32(deltas);
     
-    for (x = 0; x < 3; x++)
-        writeSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
-
-    for (x = 0; x < 4; x++)
-        deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+    /*
+     * The PID D term is frequently set to zero for yaw, which makes the result from the calculation
+     * always zero. So don't bother recording D results when PID D terms are zero.
+     */
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
+        if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x))
+            writeSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
 
     /*
      * RC tends to stay the same or fairly small for many frames at a time, so use an encoding that
      * can pack multiple values per byte:
      */
+    for (x = 0; x < 4; x++)
+        deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
+
     writeTag8_4S16(deltas);
 
+    //Check for sensors that are updated periodically (so deltas are normally zero) VBAT, MAG, BARO
+    int optionalFieldCount = 0;
+
+    deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
+
+#ifdef MAG
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
+        for (x = 0; x < XYZ_AXIS_COUNT; x++)
+            deltas[optionalFieldCount++] = blackboxCurrent->magADC[x] - blackboxLast->magADC[x];
+    }
+#endif
+
+#ifdef BARO
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO))
+        deltas[optionalFieldCount++] = blackboxCurrent->BaroAlt - blackboxLast->BaroAlt;
+#endif
+    writeTag8_8SVB(deltas, optionalFieldCount);
+
     //Since gyros, accs and motors are noisy, base the prediction on the average of the history:
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
 
-    for (x = 0; x < 3; x++)
+    for (x = 0; x < XYZ_AXIS_COUNT; x++)
         writeSignedVB(blackboxHistory[0]->accSmooth[x] - (blackboxHistory[1]->accSmooth[x] + blackboxHistory[2]->accSmooth[x]) / 2);
 
     for (x = 0; x < motorCount; x++)
@@ -750,6 +871,8 @@ void startBlackbox(void)
         blackboxHistory[1] = &blackboxHistoryRing[1];
         blackboxHistory[2] = &blackboxHistoryRing[2];
 
+        vbatReference = vbatLatest;
+
         //No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
 
         blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
@@ -802,25 +925,36 @@ static void loadBlackboxState(void)
 
     blackboxCurrent->time = currentTime;
 
-    for (i = 0; i < 3; i++)
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
         blackboxCurrent->axisPID_P[i] = axisPID_P[i];
-    for (i = 0; i < 3; i++)
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
         blackboxCurrent->axisPID_I[i] = axisPID_I[i];
-    for (i = 0; i < 3; i++)
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
         blackboxCurrent->axisPID_D[i] = axisPID_D[i];
 
     for (i = 0; i < 4; i++)
         blackboxCurrent->rcCommand[i] = rcCommand[i];
 
-    for (i = 0; i < 3; i++)
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
         blackboxCurrent->gyroData[i] = gyroData[i];
 
-    for (i = 0; i < 3; i++)
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
         blackboxCurrent->accSmooth[i] = accSmooth[i];
 
     for (i = 0; i < motorCount; i++)
         blackboxCurrent->motor[i] = motor[i];
 
+    blackboxCurrent->vbatLatest = vbatLatest;
+
+#ifdef MAG
+    for (i = 0; i < XYZ_AXIS_COUNT; i++)
+        blackboxCurrent->magADC[i] = magADC[i];
+#endif
+
+#ifdef BARO
+    blackboxCurrent->BaroAlt = BaroAlt;
+#endif
+
     //Tail servo for tricopters
     blackboxCurrent->servo[5] = servo[5];
 }
@@ -881,9 +1015,15 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
             if (headerXmitIndex == 0) {
                 charsWritten += blackboxPrint(def->name);
             } else {
-                //The other headers are integers (format as single digit for now):
-                blackboxWrite(def->arr[headerXmitIndex - 1] + '0');
-                charsWritten++;
+                //The other headers are integers
+                if (def->arr[headerXmitIndex - 1] >= 10) {
+                    blackboxWrite(def->arr[headerXmitIndex - 1] / 10 + '0');
+                    blackboxWrite(def->arr[headerXmitIndex - 1] % 10 + '0');
+                    charsWritten += 2;
+                } else {
+                    blackboxWrite(def->arr[headerXmitIndex - 1] + '0');
+                    charsWritten++;
+                }
             }
         }
     }
@@ -898,15 +1038,75 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
     return headerXmitIndex < headerCount;
 }
 
-void handleBlackbox(void)
+static int blackboxWriteSysinfo(int xmitIndex)
 {
-    int i;
-
     union floatConvert_t {
         float f;
         uint32_t u;
     } floatConvert;
 
+    switch (xmitIndex) {
+        case 0:
+            blackboxPrintf("H Firmware type:Cleanflight\n");
+        break;
+        case 1:
+            // Pause to allow more time for previous to transmit (it exceeds our chunk size)
+        break;
+        case 2:
+            blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
+        break;
+        case 3:
+            // Pause to allow more time for previous to transmit
+        break;
+        case 4:
+            blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
+        break;
+        case 5:
+            // Pause to allow more time for previous to transmit
+        break;
+        case 6:
+            blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
+        break;
+        case 7:
+            blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
+        break;
+        case 8:
+            blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
+        break;
+        case 9:
+            floatConvert.f = gyro.scale;
+            blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
+        break;
+        case 10:
+            blackboxPrintf("H acc_1G:%u\n", acc_1G);
+        break;
+        case 11:
+            blackboxPrintf("H vbatscale:%u\n", masterConfig.batteryConfig.vbatscale);
+        break;
+        case 12:
+            blackboxPrintf("H vbatcellvoltage:%u,%u,%u\n", masterConfig.batteryConfig.vbatmincellvoltage,
+                masterConfig.batteryConfig.vbatwarningcellvoltage, masterConfig.batteryConfig.vbatmaxcellvoltage);
+        break;
+        case 13:
+            //Pause
+        break;
+        case 14:
+            blackboxPrintf("H vbatref:%u\n", vbatReference);
+        break;
+        case 15:
+            // One more pause for good luck
+        break;
+        default:
+            blackboxSetState(BLACKBOX_STATE_RUNNING);
+    }
+
+    return xmitIndex + 1;
+}
+
+void handleBlackbox(void)
+{
+    int i;
+
     switch (blackboxState) {
         case BLACKBOX_STATE_SEND_HEADER:
             //On entry of this state, headerXmitIndex is 0 and startTime is intialised
@@ -949,49 +1149,7 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_SEND_SYSINFO:
             //On entry of this state, headerXmitIndex is 0
-            switch (headerXmitIndex) {
-                case 0:
-                    blackboxPrintf("H Firmware type:Cleanflight\n");
-                break;
-                case 1:
-                    // Pause to allow more time for previous to transmit (it exceeds our chunk size)
-                break;
-                case 2:
-                    blackboxPrintf("H Firmware revision:%s\n", shortGitRevision);
-                break;
-                case 3:
-                    // Pause to allow more time for previous to transmit
-                break;
-                case 4:
-                    blackboxPrintf("H Firmware date:%s %s\n", buildDate, buildTime);
-                break;
-                case 5:
-                    // Pause to allow more time for previous to transmit
-                break;
-                case 6:
-                    blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
-                break;
-                case 7:
-                    blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
-                break;
-                case 8:
-                    blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
-                break;
-                case 9:
-                    floatConvert.f = gyro.scale;
-                    blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
-                break;
-                case 10:
-                    blackboxPrintf("H acc_1G:%u\n", acc_1G);
-                break;
-                case 11:
-                    // One more pause for good luck
-                break;
-                default:
-                    blackboxSetState(BLACKBOX_STATE_RUNNING);
-            }
-
-            headerXmitIndex++;
+            headerXmitIndex = blackboxWriteSysinfo(headerXmitIndex);
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
diff --git a/src/main/blackbox/blackbox.h b/src/main/blackbox/blackbox.h
index 8f88fec526..36b006c0ad 100644
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@@ -17,18 +17,28 @@
 
 #pragma once
 
+#include "common/axis.h"
 #include <stdint.h>
 
 typedef struct blackboxValues_t {
     uint32_t time;
 
-    int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
+    int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
 
     int16_t rcCommand[4];
-    int16_t gyroData[3];
-    int16_t accSmooth[3];
+    int16_t gyroData[XYZ_AXIS_COUNT];
+    int16_t accSmooth[XYZ_AXIS_COUNT];
     int16_t motor[MAX_SUPPORTED_MOTORS];
     int16_t servo[MAX_SUPPORTED_SERVOS];
+
+    uint16_t vbatLatest;
+
+#ifdef BARO
+    int32_t BaroAlt;
+#endif
+#ifdef MAG
+    int16_t magADC[XYZ_AXIS_COUNT];
+#endif
 } blackboxValues_t;
 
 void initBlackbox(void);
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index bdea5cbd32..2c888ad3cb 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -28,6 +28,20 @@ typedef enum FlightLogFieldCondition {
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
     FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
     FLIGHT_LOG_FIELD_CONDITION_TRICOPTER,
+
+    FLIGHT_LOG_FIELD_CONDITION_MAG = 20,
+    FLIGHT_LOG_FIELD_CONDITION_BARO,
+
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0 = 40,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_2,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_1,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_2,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
+    FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
+
     FLIGHT_LOG_FIELD_CONDITION_NEVER = 255,
 } FlightLogFieldCondition;
 
@@ -57,15 +71,21 @@ typedef enum FlightLogFieldPredictor {
     FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD     = 7,
 
     //Predict 1500
-    FLIGHT_LOG_FIELD_PREDICTOR_1500           = 8
+    FLIGHT_LOG_FIELD_PREDICTOR_1500           = 8,
+
+    //Predict vbatref, the reference ADC level stored in the header
+    FLIGHT_LOG_FIELD_PREDICTOR_VBATREF        = 9
+
 } FlightLogFieldPredictor;
 
 typedef enum FlightLogFieldEncoding {
-    FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       = 0,
-    FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     = 1,
+    FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB       = 0, // Signed variable-byte
+    FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB     = 1, // Unsigned variable-byte
+    FLIGHT_LOG_FIELD_ENCODING_NEG_14BIT       = 3, // Unsigned variable-byte but we negate the value before storing, value is 14 bits
+    FLIGHT_LOG_FIELD_ENCODING_TAG8_8SVB       = 6,
     FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32       = 7,
     FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16       = 8,
-    FLIGHT_LOG_FIELD_ENCODING_NULL            = 9
+    FLIGHT_LOG_FIELD_ENCODING_NULL            = 9 // Nothing is written to the file, take value to be zero
 } FlightLogFieldEncoding;
 
 typedef enum FlightLogFieldSign {

From 421ac3d0f7c8713d9e248309f6b5ddd4b728e2e0 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Sat, 27 Dec 2014 19:35:28 +1300
Subject: [PATCH 19/24] Only log VBAT if that feature is turned on

---
 src/main/blackbox/blackbox.c           | 25 ++++++++++++++++---------
 src/main/blackbox/blackbox_fielddefs.h |  1 +
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 7895d4b601..84e3106588 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -175,7 +175,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
     /* Throttle is always in the range [minthrottle..maxthrottle]: */
     {"rcCommand[3]",  UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS),  .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
 
-    {"vbatLatest",    UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), CONDITION(ALWAYS)},
+    {"vbatLatest",    UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
 #ifdef MAG
     {"magADC[0]",     SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
     {"magADC[1]",     SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(PREVIOUS),      .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_MAG},
@@ -612,6 +612,9 @@ static bool testBlackboxCondition(FlightLogFieldCondition condition)
             return false;
 #endif
 
+        case FLIGHT_LOG_FIELD_CONDITION_VBAT:
+            return feature(FEATURE_VBAT);
+
         case FLIGHT_LOG_FIELD_CONDITION_NEVER:
             return false;
         default:
@@ -672,13 +675,15 @@ static void writeIntraframe(void)
 
     writeUnsignedVB(blackboxCurrent->rcCommand[3] - masterConfig.escAndServoConfig.minthrottle); //Throttle lies in range [minthrottle..maxthrottle]
 
-    /*
-     * Our voltage is expected to decrease over the course of the flight, so store our difference from
-     * the reference:
-     *
-     * Write 14 bits even if the number is negative (which would otherwise result in 32 bits)
-     */
-    writeUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
+        /*
+         * Our voltage is expected to decrease over the course of the flight, so store our difference from
+         * the reference:
+         *
+         * Write 14 bits even if the number is negative (which would otherwise result in 32 bits)
+         */
+        writeUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
+    }
 
 #ifdef MAG
         if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
@@ -768,7 +773,9 @@ static void writeInterframe(void)
     //Check for sensors that are updated periodically (so deltas are normally zero) VBAT, MAG, BARO
     int optionalFieldCount = 0;
 
-    deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
+    if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
+        deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
+    }
 
 #ifdef MAG
     if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 2c888ad3cb..8f9302e43a 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -31,6 +31,7 @@ typedef enum FlightLogFieldCondition {
 
     FLIGHT_LOG_FIELD_CONDITION_MAG = 20,
     FLIGHT_LOG_FIELD_CONDITION_BARO,
+    FLIGHT_LOG_FIELD_CONDITION_VBAT,
 
     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0 = 40,
     FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1,

From 6d3ad4a2de298dcb9257d7f1d5bfc602bedde646 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Sun, 28 Dec 2014 21:56:12 +1300
Subject: [PATCH 20/24] Update docs for new OpenLog firmware location

---
 docs/Blackbox.md | 29 ++++++++++++++++-------------
 1 file changed, 16 insertions(+), 13 deletions(-)

diff --git a/docs/Blackbox.md b/docs/Blackbox.md
index 5933b1afaa..9d00bef9e0 100644
--- a/docs/Blackbox.md
+++ b/docs/Blackbox.md
@@ -19,9 +19,9 @@ gyroscope data, accelerometer data (after your configured low-pass filtering), a
 speed controller. This is all stored without any approximation or loss of precision, so even quite subtle problems
 should be detectable from the fight data log.
 
-Currently, the blackbox attempts to log GPS data whenever new GPS data is available, but this has not been tested yet
-as my GPS unit is not functional. The CSV decoder and video renderer do not yet show any of the GPS data (though this
-will be added). If you have a working GPS, please send me your logs so I can get the decoding implemented.
+Currently, the blackbox attempts to log GPS data whenever new GPS data is available, but this has not been tested yet.
+The CSV decoder and video renderer do not yet show any of the GPS data (though this will be added). If you have a working
+GPS, please send in your logs so I can get the decoding implemented.
 
 The data rate for my quadcopter using a looptime of 2400 is about 10.25kB/s. This allows about 18 days of flight logs
 to fit on a 16GB MicroSD card, which ought to be enough for anybody :).
@@ -50,19 +50,20 @@ The blackbox software is designed to be used with an [OpenLog serial data logger
 little prep to get the OpenLog ready for use, so here are the details:
 
 ### Firmware
-The OpenLog should be flashed with the [OpenLog Lite firmware][] using Arduino IDE in order to minimise dropped frames
-(target the "Arduino Uno"). Note that the .hex file currently in the OpenLog repository is out of date with respect to
-the .ino source file, use [this version][] instead. Or you can build your own hex file if you add the [required libraries][]
-to your Arduino libraries directory.
+The OpenLog should be flashed with the [OpenLog Lite firmware][] or the special [OpenLog Blackbox variant][] using the Arduino IDE
+in order to minimise dropped frames (target the "Arduino Uno"). The Blackbox variant of the firmware ensures that the
+OpenLog is running at the correct baud-rate and does away for the need for a `CONFIG.TXT` file to set up the OpenLog. 
+
+If you decide to use the OpenLog Lite firmware instead, note that the .hex file for OpenLog Lite currently in the
+OpenLog repository is out of date with respect to their .ino source file, so you'll need to build it yourself after
+adding the [required libraries][] to your Arduino libraries directory.
 
 To flash the firmware, you'll need to use an FTDI programmer like the [FTDI Basic Breakout][] along with some way of
 switching the Tx and Rx pins over (since the OpenLog has them switched) like the [FTDI crossover][].
 
-The original OpenLog firmware may work with acceptable error rates if you use lower data-rates.
-
 [OpenLog serial data logger]: https://www.sparkfun.com/products/9530
 [OpenLog Lite firmware]: https://github.com/sparkfun/OpenLog/tree/master/firmware/OpenLog_v3_Light
-[this version]: https://raw.githubusercontent.com/thenickdude/blackbox/blackbox/tools/blackbox/openlog/OpenLog_v3_Light.cpp.hex
+[OpenLog Blackbox variant]: https://github.com/thenickdude/blackbox/tree/blackbox/tools/blackbox/OpenLog_v3_Blackbox
 [Required libraries]: https://code.google.com/p/beta-lib/downloads/detail?name=SerialLoggerBeta20120108.zip&can=4&q=
 [FTDI Basic Breakout]: https://www.sparkfun.com/products/9716
 [FTDI crossover]: https://www.sparkfun.com/products/10660
@@ -90,6 +91,9 @@ the best chance of writing at high speed. You must format it with either FAT, or
 [SD Association's special formatting tool]: https://www.sdcard.org/downloads/formatter_4/
 
 ### OpenLog configuration
+This section applies only if you are using the OpenLog or OpenLog Lite original firmware on the OpenLog. If you flashed
+it with the special OpenLog Blackbox firmware, you don't need to configure it further.
+
 Power up the OpenLog with a microSD card inside, wait 10 seconds or so, then power it down and plug the microSD card
 into your computer. You should find a "CONFIG.TXT" file on the card. Edit it in a text editor to set the first number
 (baud) to 115200. Set esc# to 0, mode to 0, and echo to 0. Save the file and put the card back into your OpenLog, it
@@ -97,7 +101,7 @@ should use those settings from now on.
 
 If your OpenLog didn't write a CONFIG.TXT file, you can [use this one instead][].
 
-[use this one instead]: https://raw.githubusercontent.com/thenickdude/blackbox/blackbox/tools/blackbox/openlog/CONFIG.TXT
+[use this one instead]: https://raw.githubusercontent.com/thenickdude/blackbox/blackbox/tools/blackbox/OpenLog_v3_Blackbox/CONFIG.TXT
 
 ### Protection
 The OpenLog can be wrapped in black electrical tape in order to insulate it from conductive frames (like carbon fiber),
@@ -110,8 +114,7 @@ In the [Cleanflight Configurator][], open up the CLI tab. Enable the Blackbox fe
 and pressing enter. You also need to assign the Blackbox to one of [your serial ports][] . A 115200 baud port is
 required (such as serial_port_1 on the Naze32, the two-pin Tx/Rx header in the center of the board).
 
-Use `set serial_port_1_scenario=10` to switch the main serial port to Blackbox-only, or `set serial_port_1_scenario=11`
-to switch it to MSP, CLI, Blackbox and GPS Passthrough.
+For example, use `set serial_port_1_scenario=11` to switch the main serial port to MSP, CLI, Blackbox and GPS Passthrough.
 
 Enter `save`. Your configuration should be saved and the flight controller will reboot. You're ready to go!
 

From 566bd561dc8ff178314a1b3fb0774aef569c8526 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Mon, 29 Dec 2014 01:41:13 +1300
Subject: [PATCH 21/24] Beep as logging begins to use as a synchronisation
 point for video

---
 docs/Blackbox.md                       |  4 +++
 src/main/blackbox/blackbox.c           | 35 +++++++++++++++++++++++++-
 src/main/blackbox/blackbox_fielddefs.h |  4 +++
 3 files changed, 42 insertions(+), 1 deletion(-)

diff --git a/docs/Blackbox.md b/docs/Blackbox.md
index 9d00bef9e0..71c11dafb6 100644
--- a/docs/Blackbox.md
+++ b/docs/Blackbox.md
@@ -143,6 +143,10 @@ power-cycled, it begins a fresh new log file. If you arm and disarm several time
 several flights), those logs will be combined together into one file. The command line tools will ask you to pick which
 one of these flights you want to display/decode.
 
+If your craft has a buzzer attached, a short beep will be played when you arm. You can later use this beep to
+synchronize your recorded flight video with the rendered flight data log (the beep is shown as a blue line in the flight
+data log, which you can sync against the beep in your recorded audio track).
+
 The OpenLog requires a couple of seconds of delay after powerup before it's ready to record, so don't arm your craft
 immediately after connecting the battery (you'll probably be waiting for the flight controller to become ready during
 that time anyway!)
diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 84e3106588..2dcfbcf499 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -35,6 +35,7 @@
 #include "drivers/pwm_rx.h"
 #include "drivers/accgyro.h"
 #include "drivers/light_led.h"
+#include "drivers/sound_beeper.h"
 
 #include "common/printf.h"
 
@@ -228,6 +229,7 @@ typedef enum BlackboxState {
     BLACKBOX_STATE_SEND_GPS_H_HEADERS,
     BLACKBOX_STATE_SEND_GPS_G_HEADERS,
     BLACKBOX_STATE_SEND_SYSINFO,
+    BLACKBOX_STATE_PRERUN,
     BLACKBOX_STATE_RUNNING
 } BlackboxState;
 
@@ -1045,6 +1047,10 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
     return headerXmitIndex < headerCount;
 }
 
+/**
+ * Transmit a portion of the system information headers. Begin with a xmitIndex of 0. Returns the next xmitIndex to
+ * call with, or -1 if transmission is complete.
+ */
 static int blackboxWriteSysinfo(int xmitIndex)
 {
     union floatConvert_t {
@@ -1104,12 +1110,32 @@ static int blackboxWriteSysinfo(int xmitIndex)
             // One more pause for good luck
         break;
         default:
-            blackboxSetState(BLACKBOX_STATE_RUNNING);
+            return -1;
     }
 
     return xmitIndex + 1;
 }
 
+// Beep the buzzer and write the current time to the log as a synchronization point
+static void blackboxPlaySyncBeep()
+{
+    uint32_t now = micros();
+
+    /*
+     * The regular beep routines aren't going to work for us, because they queue up the beep to be executed later.
+     * Our beep is timing sensitive, so start beeping now without setting the beeperIsOn flag.
+     */
+    BEEP_ON;
+
+    // Have the regular beeper code turn off the beep for us eventually, since that's not timing-sensitive
+    queueConfirmationBeep(1);
+
+    blackboxWrite('E');
+    blackboxWrite(FLIGHT_LOG_EVENT_SYNC_BEEP);
+
+    writeUnsignedVB(now);
+}
+
 void handleBlackbox(void)
 {
     int i;
@@ -1157,6 +1183,13 @@ void handleBlackbox(void)
         case BLACKBOX_STATE_SEND_SYSINFO:
             //On entry of this state, headerXmitIndex is 0
             headerXmitIndex = blackboxWriteSysinfo(headerXmitIndex);
+
+            blackboxSetState(BLACKBOX_STATE_PRERUN);
+        break;
+        case BLACKBOX_STATE_PRERUN:
+            blackboxPlaySyncBeep();
+
+            blackboxSetState(BLACKBOX_STATE_RUNNING);
         break;
         case BLACKBOX_STATE_RUNNING:
             // On entry to this state, blackboxIteration, blackboxPFrameIndex and blackboxIFrameIndex are reset to 0
diff --git a/src/main/blackbox/blackbox_fielddefs.h b/src/main/blackbox/blackbox_fielddefs.h
index 8f9302e43a..68a75439f7 100644
--- a/src/main/blackbox/blackbox_fielddefs.h
+++ b/src/main/blackbox/blackbox_fielddefs.h
@@ -94,3 +94,7 @@ typedef enum FlightLogFieldSign {
     FLIGHT_LOG_FIELD_SIGNED   = 1
 } FlightLogFieldSign;
 
+typedef enum FlightLogEvent {
+    FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
+    FLIGHT_LOG_EVENT_LOG_END = 255
+} FlightLogEvent;

From 8435989dc1e9d26d85d1eef2a240639119fbf22d Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Tue, 30 Dec 2014 16:35:54 +1300
Subject: [PATCH 22/24] Logging of P interval was missing for some reason

---
 src/main/blackbox/blackbox.c | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 2dcfbcf499..2798275e8f 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1078,35 +1078,38 @@ static int blackboxWriteSysinfo(int xmitIndex)
             // Pause to allow more time for previous to transmit
         break;
         case 6:
+            blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
+         break;
+        case 7:
             blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
         break;
-        case 7:
+        case 8:
             blackboxPrintf("H minthrottle:%d\n", masterConfig.escAndServoConfig.minthrottle);
         break;
-        case 8:
+        case 9:
             blackboxPrintf("H maxthrottle:%d\n", masterConfig.escAndServoConfig.maxthrottle);
         break;
-        case 9:
+        case 10:
             floatConvert.f = gyro.scale;
             blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
         break;
-        case 10:
+        case 11:
             blackboxPrintf("H acc_1G:%u\n", acc_1G);
         break;
-        case 11:
+        case 12:
             blackboxPrintf("H vbatscale:%u\n", masterConfig.batteryConfig.vbatscale);
         break;
-        case 12:
+        case 13:
             blackboxPrintf("H vbatcellvoltage:%u,%u,%u\n", masterConfig.batteryConfig.vbatmincellvoltage,
                 masterConfig.batteryConfig.vbatwarningcellvoltage, masterConfig.batteryConfig.vbatmaxcellvoltage);
         break;
-        case 13:
+        case 14:
             //Pause
         break;
-        case 14:
+        case 15:
             blackboxPrintf("H vbatref:%u\n", vbatReference);
         break;
-        case 15:
+        case 16:
             // One more pause for good luck
         break;
         default:

From 3ef83389e9053b93d2a57d867de74e140185c2b1 Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Tue, 30 Dec 2014 20:12:30 +1300
Subject: [PATCH 23/24] Fix bug intoduced in 0.1.6 which truncated the header
 in recorded logs

---
 src/main/blackbox/blackbox.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 2798275e8f..4f0d422609 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1079,7 +1079,7 @@ static int blackboxWriteSysinfo(int xmitIndex)
         break;
         case 6:
             blackboxPrintf("H P interval:%d/%d\n", masterConfig.blackbox_rate_num, masterConfig.blackbox_rate_denom);
-         break;
+        break;
         case 7:
             blackboxPrintf("H rcRate:%d\n", masterConfig.controlRateProfiles[masterConfig.current_profile_index].rcRate8);
         break;
@@ -1187,7 +1187,8 @@ void handleBlackbox(void)
             //On entry of this state, headerXmitIndex is 0
             headerXmitIndex = blackboxWriteSysinfo(headerXmitIndex);
 
-            blackboxSetState(BLACKBOX_STATE_PRERUN);
+            if (headerXmitIndex == -1)
+                blackboxSetState(BLACKBOX_STATE_PRERUN);
         break;
         case BLACKBOX_STATE_PRERUN:
             blackboxPlaySyncBeep();

From a0f3ee6315d25890b13d27a58f8b8c1d4264927f Mon Sep 17 00:00:00 2001
From: Nicholas Sherlock <n.sherlock@gmail.com>
Date: Mon, 5 Jan 2015 10:28:15 +1300
Subject: [PATCH 24/24] Fix signed comparison warning

---
 src/main/blackbox/blackbox.c | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index 4f0d422609..cbce7b57da 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1141,7 +1141,7 @@ static void blackboxPlaySyncBeep()
 
 void handleBlackbox(void)
 {
-    int i;
+    int i, result;
 
     switch (blackboxState) {
         case BLACKBOX_STATE_SEND_HEADER:
@@ -1185,10 +1185,12 @@ void handleBlackbox(void)
         break;
         case BLACKBOX_STATE_SEND_SYSINFO:
             //On entry of this state, headerXmitIndex is 0
-            headerXmitIndex = blackboxWriteSysinfo(headerXmitIndex);
+            result = blackboxWriteSysinfo(headerXmitIndex);
 
-            if (headerXmitIndex == -1)
+            if (result == -1)
                 blackboxSetState(BLACKBOX_STATE_PRERUN);
+            else
+                headerXmitIndex = result;
         break;
         case BLACKBOX_STATE_PRERUN:
             blackboxPlaySyncBeep();