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Blackbox PID headers - part 2 (#147)
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@rtlopez
rtlopez committed Aug 21, 2024
1 parent f779ec8 commit 6e942c0
Showing 1 changed file with 33 additions and 6 deletions.
39 changes: 33 additions & 6 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1587,18 +1587,16 @@ static bool blackboxWriteSysinfo(void)
currentControlRateProfile->accel_limit[PITCH],
currentControlRateProfile->accel_limit[YAW]);

BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d,%d,%d,%d", currentPidProfile->pid[PID_ROLL].P,
BLACKBOX_PRINT_HEADER_LINE("rollPID", "%d,%d,%d,%d,%d", currentPidProfile->pid[PID_ROLL].P,
currentPidProfile->pid[PID_ROLL].I,
currentPidProfile->pid[PID_ROLL].D,
currentPidProfile->pid[PID_ROLL].F,
currentPidProfile->pid[PID_ROLL].B,
currentPidProfile->pid[PID_ROLL].O);
BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d,%d,%d,%d", currentPidProfile->pid[PID_PITCH].P,
currentPidProfile->pid[PID_ROLL].B);
BLACKBOX_PRINT_HEADER_LINE("pitchPID", "%d,%d,%d,%d,%d", currentPidProfile->pid[PID_PITCH].P,
currentPidProfile->pid[PID_PITCH].I,
currentPidProfile->pid[PID_PITCH].D,
currentPidProfile->pid[PID_PITCH].F,
currentPidProfile->pid[PID_PITCH].B,
currentPidProfile->pid[PID_PITCH].O);
currentPidProfile->pid[PID_PITCH].B);
BLACKBOX_PRINT_HEADER_LINE("yawPID", "%d,%d,%d,%d,%d", currentPidProfile->pid[PID_YAW].P,
currentPidProfile->pid[PID_YAW].I,
currentPidProfile->pid[PID_YAW].D,
Expand All @@ -1622,6 +1620,35 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("yawBW", "%d,%d,%d", currentPidProfile->gyro_cutoff[PID_YAW],
currentPidProfile->dterm_cutoff[PID_YAW],
currentPidProfile->bterm_cutoff[PID_YAW]);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_type", "%d", currentPidProfile->iterm_relax_type);
BLACKBOX_PRINT_HEADER_LINE("iterm_relax_cutoff", "%d,%d,%d", currentPidProfile->iterm_relax_cutoff[0],
currentPidProfile->iterm_relax_cutoff[1],
currentPidProfile->iterm_relax_cutoff[2]);
BLACKBOX_PRINT_HEADER_LINE("error_limit", "%d,%d,%d", currentPidProfile->error_limit[0],
currentPidProfile->error_limit[1],
currentPidProfile->error_limit[2]);
BLACKBOX_PRINT_HEADER_LINE("error_decay", "%d,%d", currentPidProfile->error_decay_time_cyclic,
currentPidProfile->error_decay_limit_cyclic);
BLACKBOX_PRINT_HEADER_LINE("error_decay_ground", "%d", currentPidProfile->error_decay_time_ground);
BLACKBOX_PRINT_HEADER_LINE("cyclic_coupling", "%d,%d,%d", currentPidProfile->cyclic_cross_coupling_gain,
currentPidProfile->cyclic_cross_coupling_ratio,
currentPidProfile->cyclic_cross_coupling_cutoff);
BLACKBOX_PRINT_HEADER_LINE("yaw_stop_gain", "%d,%d", currentPidProfile->yaw_cw_stop_gain,
currentPidProfile->yaw_ccw_stop_gain);
BLACKBOX_PRINT_HEADER_LINE("yaw_precomp", "%d,%d,%d", currentPidProfile->yaw_precomp_cutoff,
currentPidProfile->yaw_cyclic_ff_gain,
currentPidProfile->yaw_collective_ff_gain);
BLACKBOX_PRINT_HEADER_LINE("yaw_precomp_impulse", "%d,%d", currentPidProfile->yaw_collective_dynamic_gain,
currentPidProfile->yaw_collective_dynamic_decay);
BLACKBOX_PRINT_HEADER_LINE("yaw_tta", "%d,%d", currentPidProfile->governor.tta_gain,
currentPidProfile->governor.tta_limit);
BLACKBOX_PRINT_HEADER_LINE("hsi_gain", "%d,%d", currentPidProfile->pid[PID_ROLL].O,
currentPidProfile->pid[PID_PITCH].O);
BLACKBOX_PRINT_HEADER_LINE("hsi_limit", "%d,%d", currentPidProfile->offset_limit[0],
currentPidProfile->offset_limit[1]);
BLACKBOX_PRINT_HEADER_LINE("piro_compensation", "%d", currentPidProfile->error_rotation);
BLACKBOX_PRINT_HEADER_LINE("pitch_compensation", "%d", currentPidProfile->pitch_collective_ff_gain);


BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->rc_deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->rc_yaw_deadband);
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