Commit 583ff39b authored by Nicholas Sherlock's avatar Nicholas Sherlock
Browse files

Add blackbox support for RSSI logging

parent 73d7bc61
......@@ -200,6 +200,7 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
#ifdef SONAR
{"sonarRaw", -1, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(PREVIOUS), .Pencode = ENCODING(TAG8_8SVB), FLIGHT_LOG_FIELD_CONDITION_SONAR},
#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)},
......@@ -265,6 +266,9 @@ extern uint8_t motorCount;
//From mw.c:
extern uint32_t currentTime;
//From rx.c:
extern uint16_t rssi;
static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
static uint32_t blackboxLastArmingBeep = 0;
......@@ -360,6 +364,9 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return false;
#endif
case FLIGHT_LOG_FIELD_CONDITION_RSSI:
return masterConfig.rxConfig.rssi_channel > 0 || feature(FEATURE_RSSI_ADC);
case FLIGHT_LOG_FIELD_CONDITION_NOT_LOGGING_EVERY_FRAME:
return masterConfig.blackbox_rate_num < masterConfig.blackbox_rate_denom;
......@@ -485,6 +492,10 @@ static void writeIntraframe(void)
}
#endif
if (testBlackboxCondition(FLIGHT_LOG_FIELD_CONDITION_RSSI)) {
blackboxWriteUnsignedVB(blackboxCurrent->rssi);
}
for (x = 0; x < XYZ_AXIS_COUNT; x++) {
blackboxWriteSignedVB(blackboxCurrent->gyroADC[x]);
}
......@@ -518,7 +529,7 @@ static void writeIntraframe(void)
static void writeInterframe(void)
{
int x;
int32_t deltas[7];
int32_t deltas[8];
blackboxValues_t *blackboxCurrent = blackboxHistory[0];
blackboxValues_t *blackboxLast = blackboxHistory[1];
......@@ -598,6 +609,10 @@ static void writeInterframe(void)
}
#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 the prediction on the average of the history:
......@@ -810,6 +825,8 @@ static void loadBlackboxState(void)
blackboxCurrent->sonarRaw = sonarRead();
#endif
blackboxCurrent->rssi = rssi;
#ifdef USE_SERVOS
//Tail servo for tricopters
blackboxCurrent->servo[5] = servo[5];
......
......@@ -46,6 +46,7 @@ typedef struct blackboxValues_t {
#ifdef SONAR
int32_t sonarRaw;
#endif
uint16_t rssi;
} blackboxValues_t;
void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data);
......
......@@ -34,6 +34,7 @@ typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_VBAT,
FLIGHT_LOG_FIELD_CONDITION_AMPERAGE_ADC,
FLIGHT_LOG_FIELD_CONDITION_SONAR,
FLIGHT_LOG_FIELD_CONDITION_RSSI,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
......
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