mirror of
https://github.com/betaflight/betaflight.git
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58fc8bbbb8
* Altitude control code shared fewer debugs subtract D * remove #include comments, simplify coding, restructuring thanks JP and MH * fix cms limits for throttle control * Use altitude_control debug, fix throttle calculation minor refactoring * use AUTO_CONTROL_ALTITUDE debug in place of GPS Rescue throttle pid * use autopilot for position control names * fixes from reviews - thanks * Re-organise included files and functions thanks Karate * missed init and other typos * remove old unused unit test file, tidy up thanks Mark * fix indentation on one line
131 lines
3.3 KiB
C
131 lines
3.3 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <stdint.h>
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#define DEBUG16_VALUE_COUNT 8
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extern int16_t debug[DEBUG16_VALUE_COUNT];
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extern uint8_t debugMode;
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#define DEBUG_SET(mode, index, value) do { if (debugMode == (mode)) { debug[(index)] = (value); } } while (0)
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typedef enum {
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DEBUG_NONE,
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DEBUG_CYCLETIME,
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DEBUG_BATTERY,
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DEBUG_GYRO_FILTERED,
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DEBUG_ACCELEROMETER,
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DEBUG_PIDLOOP,
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DEBUG_GYRO_SCALED,
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DEBUG_RC_INTERPOLATION,
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DEBUG_ANGLERATE,
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DEBUG_ESC_SENSOR,
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DEBUG_SCHEDULER,
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DEBUG_STACK,
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DEBUG_ESC_SENSOR_RPM,
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DEBUG_ESC_SENSOR_TMP,
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DEBUG_ALTITUDE,
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DEBUG_FFT,
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DEBUG_FFT_TIME,
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DEBUG_FFT_FREQ,
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DEBUG_RX_FRSKY_SPI,
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DEBUG_RX_SFHSS_SPI,
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DEBUG_GYRO_RAW,
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DEBUG_DUAL_GYRO_RAW,
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DEBUG_DUAL_GYRO_DIFF,
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DEBUG_MAX7456_SIGNAL,
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DEBUG_MAX7456_SPICLOCK,
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DEBUG_SBUS,
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DEBUG_FPORT,
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DEBUG_RANGEFINDER,
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DEBUG_RANGEFINDER_QUALITY,
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DEBUG_LIDAR_TF,
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DEBUG_ADC_INTERNAL,
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DEBUG_RUNAWAY_TAKEOFF,
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DEBUG_SDIO,
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DEBUG_CURRENT_SENSOR,
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DEBUG_USB,
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DEBUG_SMARTAUDIO,
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DEBUG_RTH,
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DEBUG_ITERM_RELAX,
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DEBUG_ACRO_TRAINER,
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DEBUG_RC_SMOOTHING,
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DEBUG_RX_SIGNAL_LOSS,
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DEBUG_RC_SMOOTHING_RATE,
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DEBUG_ANTI_GRAVITY,
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DEBUG_DYN_LPF,
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DEBUG_RX_SPEKTRUM_SPI,
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DEBUG_DSHOT_RPM_TELEMETRY,
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DEBUG_RPM_FILTER,
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DEBUG_D_MAX,
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DEBUG_AC_CORRECTION,
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DEBUG_AC_ERROR,
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DEBUG_DUAL_GYRO_SCALED,
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DEBUG_DSHOT_RPM_ERRORS,
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DEBUG_CRSF_LINK_STATISTICS_UPLINK,
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DEBUG_CRSF_LINK_STATISTICS_PWR,
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DEBUG_CRSF_LINK_STATISTICS_DOWN,
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DEBUG_BARO,
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DEBUG_AUTOPILOT_ALTITUDE,
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DEBUG_DYN_IDLE,
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DEBUG_FEEDFORWARD_LIMIT,
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DEBUG_FEEDFORWARD,
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DEBUG_BLACKBOX_OUTPUT,
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DEBUG_GYRO_SAMPLE,
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DEBUG_RX_TIMING,
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DEBUG_D_LPF,
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DEBUG_VTX_TRAMP,
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DEBUG_GHST,
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DEBUG_GHST_MSP,
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DEBUG_SCHEDULER_DETERMINISM,
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DEBUG_TIMING_ACCURACY,
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DEBUG_RX_EXPRESSLRS_SPI,
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DEBUG_RX_EXPRESSLRS_PHASELOCK,
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DEBUG_RX_STATE_TIME,
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DEBUG_GPS_RESCUE_VELOCITY,
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DEBUG_GPS_RESCUE_HEADING,
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DEBUG_GPS_RESCUE_TRACKING,
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DEBUG_GPS_CONNECTION,
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DEBUG_ATTITUDE,
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DEBUG_VTX_MSP,
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DEBUG_GPS_DOP,
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DEBUG_FAILSAFE,
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DEBUG_GYRO_CALIBRATION,
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DEBUG_ANGLE_MODE,
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DEBUG_ANGLE_TARGET,
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DEBUG_CURRENT_ANGLE,
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DEBUG_DSHOT_TELEMETRY_COUNTS,
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DEBUG_RPM_LIMIT,
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DEBUG_RC_STATS,
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DEBUG_MAG_CALIB,
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DEBUG_MAG_TASK_RATE,
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DEBUG_EZLANDING,
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DEBUG_TPA,
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DEBUG_S_TERM,
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DEBUG_SPA,
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DEBUG_TASK,
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DEBUG_COUNT
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} debugType_e;
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extern const char * const debugModeNames[DEBUG_COUNT];
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void debugInit(void);
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