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blackbox.c
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blackbox.c
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software. You can redistribute
* this software and/or modify this software 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include <math.h>
#include "platform.h"
#ifdef USE_BLACKBOX
#include "blackbox.h"
#include "blackbox_encoding.h"
#include "blackbox_fielddefs.h"
#include "blackbox_io.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "build/version.h"
#include "common/axis.h"
#include "common/encoding.h"
#include "common/maths.h"
#include "common/time.h"
#include "common/utils.h"
#include "config/config.h"
#include "config/feature.h"
#include "drivers/compass/compass.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
#include "fc/board_info.h"
#include "fc/controlrate_profile.h"
#include "fc/rc.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/serial.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/motor.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/compass.h"
#include "sensors/gyro.h"
#include "sensors/rangefinder.h"
#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
#elif defined(ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT)
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SDCARD
#else
#define DEFAULT_BLACKBOX_DEVICE BLACKBOX_DEVICE_SERIAL
#endif
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 1);
PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.p_ratio = 32,
.device = DEFAULT_BLACKBOX_DEVICE,
.record_acc = 1,
.mode = BLACKBOX_MODE_NORMAL
);
#define BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS 200
// Some macros to make writing FLIGHT_LOG_FIELD_* constants shorter:
#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"
"H Data version:2\n";
static const char* const blackboxFieldHeaderNames[] = {
"name",
"signed",
"predictor",
"encoding",
"predictor",
"encoding"
};
/* All field definition structs should look like this (but with longer arrs): */
typedef struct blackboxFieldDefinition_s {
const char *name;
// If the field name has a number to be included in square brackets [1] afterwards, set it here, or -1 for no brackets:
int8_t fieldNameIndex;
// Each member of this array will be the value to print for this field for the given header index
uint8_t arr[1];
} blackboxFieldDefinition_t;
#define BLACKBOX_DELTA_FIELD_HEADER_COUNT ARRAYLEN(blackboxFieldHeaderNames)
#define BLACKBOX_SIMPLE_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
#define BLACKBOX_CONDITIONAL_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
typedef struct blackboxSimpleFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
uint8_t isSigned;
uint8_t predict;
uint8_t encode;
} blackboxSimpleFieldDefinition_t;
typedef struct blackboxConditionalFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
uint8_t isSigned;
uint8_t predict;
uint8_t encode;
uint8_t condition; // Decide whether this field should appear in the log
} blackboxConditionalFieldDefinition_t;
typedef struct blackboxDeltaFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
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
} blackboxDeltaFieldDefinition_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 blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
/* loopIteration doesn't appear in P frames since it always increments */
{"loopIteration",-1, 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", -1, 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(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)},
{"axisF", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"axisF", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"axisF", 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)},
{"rcCommand", 3, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
// setpoint - define 4 fields like rcCommand to use the same encoding. setpoint[4] contains the mixer throttle
{"setpoint", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"setpoint", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"setpoint", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"setpoint", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_4S16), CONDITION(ALWAYS)},
{"vbatLatest", -1, UNSIGNED, .Ipredict = PREDICT(VBATREF), .Iencode = ENCODING(NEG_14BIT), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_VBAT},
{"amperageLatest",-1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC},
#ifdef USE_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 USE_BARO
{"BaroAlt", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_BARO},
#endif
#ifdef USE_RANGEFINDER
{"surfaceRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER},
#endif
{"rssi", -1, UNSIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_RSSI},
/* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
{"gyroADC", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"gyroADC", 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), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"accSmooth", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"accSmooth", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_ACC},
{"debug", 0, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), FLIGHT_LOG_FIELD_CONDITION_DEBUG},
/* 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(MINMOTOR), .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)},
/* Tricopter tail servo */
{"servo", 5, UNSIGNED, .Ipredict = PREDICT(1500), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(SIGNED_VB), CONDITION(TRICOPTER)}
};
#ifdef USE_GPS
// GPS position/vel frame
static const blackboxConditionalFieldDefinition_t blackboxGpsGFields[] = {
{"time", -1, UNSIGNED, PREDICT(LAST_MAIN_FRAME_TIME), ENCODING(UNSIGNED_VB), CONDITION(NOT_LOGGING_EVERY_FRAME)},
{"GPS_numSat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord", 0, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_coord", 1, SIGNED, PREDICT(HOME_COORD), ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
{"GPS_altitude", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_speed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)},
{"GPS_ground_course", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB), CONDITION(ALWAYS)}
};
// GPS home frame
static const blackboxSimpleFieldDefinition_t blackboxGpsHFields[] = {
{"GPS_home", 0, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)},
{"GPS_home", 1, SIGNED, PREDICT(0), ENCODING(SIGNED_VB)}
};
#endif
// Rarely-updated fields
static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"flightModeFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"stateFlags", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"failsafePhase", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)},
{"rxSignalReceived", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)},
{"rxFlightChannelsValid", -1, UNSIGNED, PREDICT(0), ENCODING(TAG2_3S32)}
};
typedef enum BlackboxState {
BLACKBOX_STATE_DISABLED = 0,
BLACKBOX_STATE_STOPPED,
BLACKBOX_STATE_PREPARE_LOG_FILE,
BLACKBOX_STATE_SEND_HEADER,
BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
BLACKBOX_STATE_SEND_GPS_H_HEADER,
BLACKBOX_STATE_SEND_GPS_G_HEADER,
BLACKBOX_STATE_SEND_SLOW_HEADER,
BLACKBOX_STATE_SEND_SYSINFO,
BLACKBOX_STATE_CACHE_FLUSH,
BLACKBOX_STATE_PAUSED,
BLACKBOX_STATE_RUNNING,
BLACKBOX_STATE_SHUTTING_DOWN,
BLACKBOX_STATE_START_ERASE,
BLACKBOX_STATE_ERASING,
BLACKBOX_STATE_ERASED
} BlackboxState;
typedef struct blackboxMainState_s {
uint32_t time;
int32_t axisPID_P[XYZ_AXIS_COUNT];
int32_t axisPID_I[XYZ_AXIS_COUNT];
int32_t axisPID_D[XYZ_AXIS_COUNT];
int32_t axisPID_F[XYZ_AXIS_COUNT];
int16_t rcCommand[4];
int16_t setpoint[4];
int16_t gyroADC[XYZ_AXIS_COUNT];
int16_t accADC[XYZ_AXIS_COUNT];
int16_t debug[DEBUG16_VALUE_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS];
uint16_t vbatLatest;
int32_t amperageLatest;
#ifdef USE_BARO
int32_t BaroAlt;
#endif
#ifdef USE_MAG
int16_t magADC[XYZ_AXIS_COUNT];
#endif
#ifdef USE_RANGEFINDER
int32_t surfaceRaw;
#endif
uint16_t rssi;
} blackboxMainState_t;
typedef struct blackboxGpsState_s {
int32_t GPS_home[2];
int32_t GPS_coord[2];
uint8_t GPS_numSat;
} blackboxGpsState_t;
// This data is updated really infrequently:
typedef struct blackboxSlowState_s {
uint32_t flightModeFlags; // extend this data size (from uint16_t)
uint8_t stateFlags;
uint8_t failsafePhase;
bool rxSignalReceived;
bool rxFlightChannelsValid;
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
//From rc_controls.c
extern boxBitmask_t rcModeActivationMask;
static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0;
static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
static struct {
uint32_t headerIndex;
/* Since these fields are used during different blackbox states (never simultaneously) we can
* overlap them to save on RAM
*/
union {
int fieldIndex;
uint32_t startTime;
} u;
} xmitState;
// Cache for FLIGHT_LOG_FIELD_CONDITION_* test results:
static uint32_t blackboxConditionCache;
STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION_LAST, too_many_flight_log_conditions);
static uint32_t blackboxIteration;
static uint16_t blackboxLoopIndex;
static uint16_t blackboxPFrameIndex;
static uint16_t blackboxIFrameIndex;
// number of flight loop iterations before logging I-frame
// typically 32 for 1kHz loop, 64 for 2kHz loop etc
STATIC_UNIT_TESTED int16_t blackboxIInterval = 0;
// number of flight loop iterations before logging P-frame
STATIC_UNIT_TESTED int16_t blackboxPInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSInterval = 0;
STATIC_UNIT_TESTED int32_t blackboxSlowFrameIterationTimer;
static bool blackboxLoggedAnyFrames;
/*
* 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 blackboxGpsState_t gpsHistory;
static blackboxSlowState_t slowHistory;
// Keep a history of length 2, plus a buffer for MW to store the new values into
static blackboxMainState_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 blackboxMainState_t* blackboxHistory[3];
static bool blackboxModeActivationConditionPresent = false;
/**
* Return true if it is safe to edit the Blackbox configuration.
*/
bool blackboxMayEditConfig(void)
{
return blackboxState <= BLACKBOX_STATE_STOPPED;
}
static bool blackboxIsOnlyLoggingIntraframes(void)
{
return blackboxConfig()->p_ratio == 0;
}
static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
{
switch (condition) {
case FLIGHT_LOG_FIELD_CONDITION_ALWAYS:
return true;
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8:
return getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1;
case FLIGHT_LOG_FIELD_CONDITION_TRICOPTER:
return mixerConfig()->mixerMode == MIXER_TRI || mixerConfig()->mixerMode == MIXER_CUSTOM_TRI;
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 currentPidProfile->pid[condition - FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0].D != 0;
case FLIGHT_LOG_FIELD_CONDITION_MAG:
#ifdef USE_MAG
return sensors(SENSOR_MAG);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_BARO:
#ifdef USE_BARO
return sensors(SENSOR_BARO);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_VBAT:
return batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
case FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC:
return (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) && (batteryConfig()->currentMeterSource != CURRENT_METER_VIRTUAL);
case FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER:
#ifdef USE_RANGEFINDER
return sensors(SENSOR_RANGEFINDER);
#else
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
return isRssiConfigured();
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return blackboxConfig()->p_ratio != 1;
case FLIGHT_LOG_FIELD_CONDITION_ACC:
return sensors(SENSOR_ACC) && blackboxConfig()->record_acc;
case FLIGHT_LOG_FIELD_CONDITION_DEBUG:
return debugMode != DEBUG_NONE;
case FLIGHT_LOG_FIELD_CONDITION_NEVER:
return false;
default:
return false;
}
}
static void blackboxBuildConditionCache(void)
{
blackboxConditionCache = 0;
for (FlightLogFieldCondition cond = FLIGHT_LOG_FIELD_CONDITION_FIRST; cond <= FLIGHT_LOG_FIELD_CONDITION_LAST; cond++) {
if (testBlackboxConditionUncached(cond)) {
blackboxConditionCache |= 1 << cond;
}
}
}
static bool testBlackboxCondition(FlightLogFieldCondition condition)
{
return (blackboxConditionCache & (1 << condition)) != 0;
}
static void blackboxSetState(BlackboxState newState)
{
//Perform initial setup required for the new state
switch (newState) {
case BLACKBOX_STATE_PREPARE_LOG_FILE:
blackboxLoggedAnyFrames = false;
break;
case BLACKBOX_STATE_SEND_HEADER:
blackboxHeaderBudget = 0;
xmitState.headerIndex = 0;
xmitState.u.startTime = millis();
break;
case BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER:
case BLACKBOX_STATE_SEND_GPS_G_HEADER:
case BLACKBOX_STATE_SEND_GPS_H_HEADER:
case BLACKBOX_STATE_SEND_SLOW_HEADER:
xmitState.headerIndex = 0;
xmitState.u.fieldIndex = -1;
break;
case BLACKBOX_STATE_SEND_SYSINFO:
xmitState.headerIndex = 0;
break;
case BLACKBOX_STATE_RUNNING:
blackboxSlowFrameIterationTimer = blackboxSInterval; //Force a slow frame to be written on the first iteration
break;
case BLACKBOX_STATE_SHUTTING_DOWN:
xmitState.u.startTime = millis();
break;
default:
;
}
blackboxState = newState;
}
static void writeIntraframe(void)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxWrite('I');
blackboxWriteUnsignedVB(blackboxIteration);
blackboxWriteUnsignedVB(blackboxCurrent->time);
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_I, XYZ_AXIS_COUNT);
// Don't bother writing the current D term if the corresponding PID setting is zero
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x]);
}
}
blackboxWriteSignedVBArray(blackboxCurrent->axisPID_F, XYZ_AXIS_COUNT);
// Write roll, pitch and yaw first:
blackboxWriteSigned16VBArray(blackboxCurrent->rcCommand, 3);
/*
* Write the throttle separately from the rest of the RC data as it's unsigned.
* Throttle lies in range [PWM_RANGE_MIN..PWM_RANGE_MAX]:
*/
blackboxWriteUnsignedVB(blackboxCurrent->rcCommand[THROTTLE]);
// Write setpoint roll, pitch, yaw, and throttle
blackboxWriteSigned16VBArray(blackboxCurrent->setpoint, 4);
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)
*/
blackboxWriteUnsignedVB((vbatReference - blackboxCurrent->vbatLatest) & 0x3FFF);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC)) {
// 12bit value directly from ADC
blackboxWriteSignedVB(blackboxCurrent->amperageLatest);
}
#ifdef USE_MAG
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->magADC, XYZ_AXIS_COUNT);
}
#endif
#ifdef USE_BARO
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
blackboxWriteSignedVB(blackboxCurrent->BaroAlt);
}
#endif
#ifdef USE_RANGEFINDER
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER)) {
blackboxWriteSignedVB(blackboxCurrent->surfaceRaw);
}
#endif
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
blackboxWriteUnsignedVB(blackboxCurrent->rssi);
}
blackboxWriteSigned16VBArray(blackboxCurrent->gyroADC, XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteSigned16VBArray(blackboxCurrent->debug, DEBUG16_VALUE_COUNT);
}
//Motors can be below minimum output when disarmed, but that doesn't happen much
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
const int motorCount = getMotorCount();
for (int x = 1; x < motorCount; x++) {
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);
}
//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;
blackboxLoggedAnyFrames = true;
}
static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHistory, int count)
{
int16_t *curr = (int16_t*) ((char*) (blackboxHistory[0]) + arrOffsetInHistory);
int16_t *prev1 = (int16_t*) ((char*) (blackboxHistory[1]) + arrOffsetInHistory);
int16_t *prev2 = (int16_t*) ((char*) (blackboxHistory[2]) + arrOffsetInHistory);
for (int i = 0; i < count; i++) {
// Predictor is the average of the previous two history states
int32_t predictor = (prev1[i] + prev2[i]) / 2;
blackboxWriteSignedVB(curr[i] - predictor);
}
}
static void writeInterframe(void)
{
blackboxMainState_t *blackboxCurrent = blackboxHistory[0];
blackboxMainState_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 (due to consistent
* looptime spacing), use second-order differences.
*/
blackboxWriteSignedVB((int32_t) (blackboxHistory[0]->time - 2 * blackboxHistory[1]->time + blackboxHistory[2]->time));
int32_t deltas[8];
int32_t setpointDeltas[4];
arraySubInt32(deltas, blackboxCurrent->axisPID_P, blackboxLast->axisPID_P, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
/*
* 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.
*/
arraySubInt32(deltas, blackboxCurrent->axisPID_I, blackboxLast->axisPID_I, XYZ_AXIS_COUNT);
blackboxWriteTag2_3S32(deltas);
/*
* 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 (int x = 0; x < XYZ_AXIS_COUNT; x++) {
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0 + x)) {
blackboxWriteSignedVB(blackboxCurrent->axisPID_D[x] - blackboxLast->axisPID_D[x]);
}
}
arraySubInt32(deltas, blackboxCurrent->axisPID_F, blackboxLast->axisPID_F, XYZ_AXIS_COUNT);
blackboxWriteSignedVBArray(deltas, XYZ_AXIS_COUNT);
/*
* 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 (int x = 0; x < 4; x++) {
deltas[x] = blackboxCurrent->rcCommand[x] - blackboxLast->rcCommand[x];
setpointDeltas[x] = blackboxCurrent->setpoint[x] - blackboxLast->setpoint[x];
}
blackboxWriteTag8_4S16(deltas);
blackboxWriteTag8_4S16(setpointDeltas);
//Check for sensors that are updated periodically (so deltas are normally zero)
int optionalFieldCount = 0;
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_VBAT)) {
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->vbatLatest - blackboxLast->vbatLatest;
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC)) {
deltas[optionalFieldCount++] = blackboxCurrent->amperageLatest - blackboxLast->amperageLatest;
}
#ifdef USE_MAG
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_MAG)) {
for (int x = 0; x < XYZ_AXIS_COUNT; x++) {
deltas[optionalFieldCount++] = blackboxCurrent->magADC[x] - blackboxLast->magADC[x];
}
}
#endif
#ifdef USE_BARO
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_BARO)) {
deltas[optionalFieldCount++] = blackboxCurrent->BaroAlt - blackboxLast->BaroAlt;
}
#endif
#ifdef USE_RANGEFINDER
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RANGEFINDER)) {
deltas[optionalFieldCount++] = blackboxCurrent->surfaceRaw - blackboxLast->surfaceRaw;
}
#endif
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
deltas[optionalFieldCount++] = (int32_t) blackboxCurrent->rssi - blackboxLast->rssi;
}
blackboxWriteTag8_8SVB(deltas, optionalFieldCount);
//Since gyros, accs and motors are noisy, base their predictions on the average of the history:
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, gyroADC), XYZ_AXIS_COUNT);
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_ACC)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
}
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_DEBUG)) {
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, debug), DEBUG16_VALUE_COUNT);
}
blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, motor), getMotorCount());
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_TRICOPTER)) {
blackboxWriteSignedVB(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;
blackboxLoggedAnyFrames = true;
}
/* Write the contents of the global "slowHistory" to the log as an "S" frame. Because this data is logged so
* infrequently, delta updates are not reasonable, so we log independent frames. */
static void writeSlowFrame(void)
{
int32_t values[3];
blackboxWrite('S');
blackboxWriteUnsignedVB(slowHistory.flightModeFlags);
blackboxWriteUnsignedVB(slowHistory.stateFlags);
/*
* Most of the time these three values will be able to pack into one byte for us:
*/
values[0] = slowHistory.failsafePhase;
values[1] = slowHistory.rxSignalReceived ? 1 : 0;
values[2] = slowHistory.rxFlightChannelsValid ? 1 : 0;
blackboxWriteTag2_3S32(values);
blackboxSlowFrameIterationTimer = 0;
}
/**
* Load rarely-changing values from the FC into the given structure
*/
static void loadSlowState(blackboxSlowState_t *slow)
{
memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
slow->stateFlags = stateFlags;
slow->failsafePhase = failsafePhase();
slow->rxSignalReceived = rxIsReceivingSignal();
slow->rxFlightChannelsValid = rxAreFlightChannelsValid();
}
/**
* If the data in the slow frame has changed, log a slow frame.
*
* If allowPeriodicWrite is true, the frame is also logged if it has been more than blackboxSInterval logging iterations
* since the field was last logged.
*/
STATIC_UNIT_TESTED bool writeSlowFrameIfNeeded(void)
{
// Write the slow frame peridocially so it can be recovered if we ever lose sync
bool shouldWrite = blackboxSlowFrameIterationTimer >= blackboxSInterval;
if (shouldWrite) {
loadSlowState(&slowHistory);
} else {
blackboxSlowState_t newSlowState;
loadSlowState(&newSlowState);
// Only write a slow frame if it was different from the previous state
if (memcmp(&newSlowState, &slowHistory, sizeof(slowHistory)) != 0) {
// Use the new state as our new history
memcpy(&slowHistory, &newSlowState, sizeof(slowHistory));
shouldWrite = true;
}
}
if (shouldWrite) {
writeSlowFrame();
}
return shouldWrite;
}
void blackboxValidateConfig(void)
{
// If we've chosen an unsupported device, change the device to serial
switch (blackboxConfig()->device) {
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
#endif
#ifdef USE_SDCARD
case BLACKBOX_DEVICE_SDCARD:
#endif
case BLACKBOX_DEVICE_SERIAL:
// Device supported, leave the setting alone
break;
default:
blackboxConfigMutable()->device = BLACKBOX_DEVICE_SERIAL;
}
}
static void blackboxResetIterationTimers(void)
{
blackboxIteration = 0;
blackboxLoopIndex = 0;
blackboxIFrameIndex = 0;
blackboxPFrameIndex = 0;
blackboxSlowFrameIterationTimer = 0;
}
/**
* Start Blackbox logging if it is not already running. Intended to be called upon arming.
*/
static void blackboxStart(void)
{
blackboxValidateConfig();
if (!blackboxDeviceOpen()) {
blackboxSetState(BLACKBOX_STATE_DISABLED);
return;
}
memset(&gpsHistory, 0, sizeof(gpsHistory));
blackboxHistory[0] = &blackboxHistoryRing[0];
blackboxHistory[1] = &blackboxHistoryRing[1];
blackboxHistory[2] = &blackboxHistoryRing[2];
vbatReference = getBatteryVoltageLatest();
//No need to clear the content of blackboxHistoryRing since our first frame will be an intra which overwrites it
/*
* We use conditional tests to decide whether or not certain fields should be logged. Since our headers
* must always agree with the logged data, the results of these tests must not change during logging. So
* cache those now.
*/
blackboxBuildConditionCache();
blackboxModeActivationConditionPresent = isModeActivationConditionPresent(BOXBLACKBOX);
blackboxResetIterationTimers();
/*
* Record the beeper's current idea of the last arming beep time, so that we can detect it changing when
* it finally plays the beep for this arming event.
*/
blackboxLastArmingBeep = getArmingBeepTimeMicros();
memcpy(&blackboxLastFlightModeFlags, &rcModeActivationMask, sizeof(blackboxLastFlightModeFlags)); // record startup status
blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
}
/**
* Begin Blackbox shutdown.
*/
void blackboxFinish(void)
{
switch (blackboxState) {
case BLACKBOX_STATE_DISABLED:
case BLACKBOX_STATE_STOPPED:
case BLACKBOX_STATE_SHUTTING_DOWN:
// We're already stopped/shutting down
break;
case BLACKBOX_STATE_RUNNING:
case BLACKBOX_STATE_PAUSED:
blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
FALLTHROUGH;
default:
blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
}
}
/**
* Test Motors Blackbox Logging
*/
static bool startedLoggingInTestMode = false;
static void startInTestMode(void)
{
if (!startedLoggingInTestMode) {
if (blackboxConfig()->device == BLACKBOX_DEVICE_SERIAL) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
return; // When in test mode, we cannot share the MSP and serial logger port!
}
}
blackboxStart();
startedLoggingInTestMode = true;
}
}
static void stopInTestMode(void)
{
if (startedLoggingInTestMode) {
blackboxFinish();
startedLoggingInTestMode = false;
}
}
/**
* We are going to monitor the MSP_SET_MOTOR target variables motor_disarmed[] for values other than minthrottle
* on reading a value (i.e. the user is testing the motors), then we enable test mode logging;
* we monitor when the values return to minthrottle and start a delay timer (5 seconds); if
* the test motors are left at minimum throttle for this delay timer, then we assume we are done testing and
* shutdown the logger.
*
* Of course, after the 5 seconds and shutdown of the logger, the system will be re-enabled to allow the
* test mode to trigger again; its just that the data will be in a second, third, fourth etc log file.
*/
static bool inMotorTestMode(void) {
static uint32_t resetTime = 0;
if (!ARMING_FLAG(ARMED) && areMotorsRunning()) {
resetTime = millis() + 5000; // add 5 seconds
return true;
} else {
// Monitor the duration at minimum
return (millis() < resetTime);
}
return false;
}
#ifdef USE_GPS
static void writeGPSHomeFrame(void)
{
blackboxWrite('H');
blackboxWriteSignedVB(GPS_home[0]);
blackboxWriteSignedVB(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(timeUs_t currentTimeUs)
{
blackboxWrite('G');
/*
* If we're logging every frame, then a GPS frame always appears just after a frame with the
* currentTime timestamp in the log, so the reader can just use that timestamp for the GPS frame.
*
* If we're not logging every frame, we need to store the time of this GPS frame.
*/
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME)) {
// Predict the time of the last frame in the main log
blackboxWriteUnsignedVB(currentTimeUs - blackboxHistory[1]->time);
}
blackboxWriteUnsignedVB(gpsSol.numSat);
blackboxWriteSignedVB(gpsSol.llh.lat - gpsHistory.GPS_home[LAT]);
blackboxWriteSignedVB(gpsSol.llh.lon - gpsHistory.GPS_home[LON]);
blackboxWriteUnsignedVB(gpsSol.llh.altCm / 10); // was originally designed to transport meters in int16, but +-3276.7m is a good compromise
blackboxWriteUnsignedVB(gpsSol.groundSpeed);
blackboxWriteUnsignedVB(gpsSol.groundCourse);