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Servo output logging in blackbox #4501

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merged 2 commits into from
Mar 14, 2019
Merged

Servo output logging in blackbox #4501

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77e4326
Update blackbox.c
hali9 Mar 11, 2019
9f251e6
servo midpoint
hali9 Mar 13, 2019
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26 changes: 16 additions & 10 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -285,8 +285,15 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
{"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)},

/* Tricopter tail servo */
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)},
/* servos */
{"servo", 0, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 1, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 2, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 3, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 4, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 6, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"servo", 7, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},

#ifdef NAV_BLACKBOX
{"navState", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
Expand Down Expand Up @@ -788,9 +795,9 @@ static void writeIntraframe(void)
blackboxWriteSignedVB(blackboxCurrent->motor[x] - blackboxCurrent->motor[0]);
}

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
//Assume the tail spends most of its time around the center
blackboxWriteSignedVB(blackboxCurrent->servo[5] - 1500);
for (int x = 0; x < MAX_SUPPORTED_SERVOS; x++) {
//Assume that servos spends most of its time around the center
blackboxWriteSignedVB(blackboxCurrent->servo[x] - servoParams(x)->middle);
}

#ifdef NAV_BLACKBOX
Expand Down Expand Up @@ -991,9 +998,7 @@ static void writeInterframe(void)
}
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());

if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
blackboxWriteSignedVB(blackboxCurrent->servo[5] - blackboxLast->servo[5]);
}
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, servo), MAX_SUPPORTED_SERVOS);

#ifdef NAV_BLACKBOX
blackboxWriteSignedVB(blackboxCurrent->navState - blackboxLast->navState);
Expand Down Expand Up @@ -1402,8 +1407,9 @@ static void loadMainState(timeUs_t currentTimeUs)

blackboxCurrent->rssi = getRSSI();

//Tail servo for tricopters
blackboxCurrent->servo[5] = servo[5];
for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
blackboxCurrent->servo[i] = servo[i];
}

#ifdef NAV_BLACKBOX
blackboxCurrent->navState = navCurrentState;
Expand Down