From 6e942c06a9a9df1c3a5c078c3ed78497ac8db7cb Mon Sep 17 00:00:00 2001 From: rtlopez Date: Wed, 21 Aug 2024 11:06:56 +0200 Subject: [PATCH] Blackbox PID headers - part 2 (#147) --- src/main/blackbox/blackbox.c | 39 ++++++++++++++++++++++++++++++------ 1 file changed, 33 insertions(+), 6 deletions(-) diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c index a6d18c523..922ae5159 100644 --- a/src/main/blackbox/blackbox.c +++ b/src/main/blackbox/blackbox.c @@ -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, @@ -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);