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add SERVOS to blackbox optional fields list #10272

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Merged
stronnag merged 1 commit into from
Aug 1, 2024
Merged

add SERVOS to blackbox optional fields list #10272

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9 changes: 5 additions & 4 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@
#define BLACKBOX_INVERTED_CARD_DETECTION 0
#endif

PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 2);
PG_REGISTER_WITH_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 3);

PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.device = DEFAULT_BLACKBOX_DEVICE,
Expand All @@ -108,7 +108,8 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
.invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
.includeFlags = BLACKBOX_FEATURE_NAV_PID | BLACKBOX_FEATURE_NAV_POS |
BLACKBOX_FEATURE_MAG | BLACKBOX_FEATURE_ACC | BLACKBOX_FEATURE_ATTITUDE |
BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND | BLACKBOX_FEATURE_MOTORS,
BLACKBOX_FEATURE_RC_DATA | BLACKBOX_FEATURE_RC_COMMAND |
BLACKBOX_FEATURE_MOTORS | BLACKBOX_FEATURE_SERVOS,
);

void blackboxIncludeFlagSet(uint32_t mask)
Expand Down Expand Up @@ -654,7 +655,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
return (getMotorCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1 + 1) && blackboxIncludeFlag(BLACKBOX_FEATURE_MOTORS);

case FLIGHT_LOG_FIELD_CONDITION_SERVOS:
return isMixerUsingServos();
return blackboxIncludeFlag(BLACKBOX_FEATURE_SERVOS) && isMixerUsingServos();

case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_2:
Expand All @@ -674,7 +675,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_16:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_17:
case FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_18:
return ((FlightLogFieldCondition)getServoCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1 + 1);
return ((FlightLogFieldCondition)getServoCount() >= condition - FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_SERVOS_1 + 1) && blackboxIncludeFlag(BLACKBOX_FEATURE_SERVOS);

case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0:
case FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1:
Expand Down
3 changes: 2 additions & 1 deletion src/main/blackbox/blackbox.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@ typedef enum {
BLACKBOX_FEATURE_GYRO_PEAKS_ROLL = 1 << 10,
BLACKBOX_FEATURE_GYRO_PEAKS_PITCH = 1 << 11,
BLACKBOX_FEATURE_GYRO_PEAKS_YAW = 1 << 12,
BLACKBOX_FEATURE_SERVOS = 1 << 13,
} blackboxFeatureMask_e;
typedef struct blackboxConfig_s {
uint16_t rate_num;
Expand All @@ -55,4 +56,4 @@ void blackboxFinish(void);
bool blackboxMayEditConfig(void);
void blackboxIncludeFlagSet(uint32_t mask);
void blackboxIncludeFlagClear(uint32_t mask);
bool blackboxIncludeFlag(uint32_t mask);
bool blackboxIncludeFlag(uint32_t mask);
17 changes: 9 additions & 8 deletions src/main/fc/cli.c
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,7 @@ static const char * const blackboxIncludeFlagNames[] = {
"PEAKS_R",
"PEAKS_P",
"PEAKS_Y",
"SERVOS",
NULL
};
#endif
Expand Down Expand Up @@ -1087,7 +1088,7 @@ static void cliAdjustmentRange(char *cmdline)
}

static void printMotorMix(uint8_t dumpMask, const motorMixer_t *primaryMotorMixer, const motorMixer_t *defaultprimaryMotorMixer)
{
{
const char *format = "mmix %d %s %s %s %s";
char buf0[FTOA_BUFFER_SIZE];
char buf1[FTOA_BUFFER_SIZE];
Expand Down Expand Up @@ -1351,7 +1352,7 @@ static void cliTempSensor(char *cmdline)
#endif

#ifdef USE_FW_AUTOLAND
static void printFwAutolandApproach(uint8_t dumpMask, const navFwAutolandApproach_t *navFwAutolandApproach, const navFwAutolandApproach_t *defaultFwAutolandApproach)
static void printFwAutolandApproach(uint8_t dumpMask, const navFwAutolandApproach_t *navFwAutolandApproach, const navFwAutolandApproach_t *defaultFwAutolandApproach)
{
const char *format = "fwapproach %u %d %d %u %d %d %u";
for (uint8_t i = 0; i < MAX_FW_LAND_APPOACH_SETTINGS; i++) {
Expand Down Expand Up @@ -1398,7 +1399,7 @@ static void cliFwAutolandApproach(char * cmdline)

if ((ptr = nextArg(ptr))) {
landDirection = fastA2I(ptr);

if (landDirection != 0 && landDirection != 1) {
cliShowParseError();
return;
Expand Down Expand Up @@ -1428,7 +1429,7 @@ static void cliFwAutolandApproach(char * cmdline)

validArgumentCount++;
}

if ((ptr = nextArg(ptr))) {
isSeaLevelRef = fastA2I(ptr);
validArgumentCount++;
Expand Down Expand Up @@ -1842,7 +1843,7 @@ static void cliLedPinPWM(char *cmdline)
if (isEmpty(cmdline)) {
ledPinStopPWM();
cliPrintLine("PWM stopped");
} else {
} else {
i = fastA2I(cmdline);
ledPinStartPWM(i);
cliPrintLinef("PWM started: %d%%",i);
Expand Down Expand Up @@ -3739,8 +3740,8 @@ static void cliStatus(char *cmdline)
#if defined(AT32F43x)
cliPrintLine("AT32 system clocks:");
crm_clocks_freq_type clocks;
crm_clocks_freq_get(&clocks);
crm_clocks_freq_get(&clocks);

cliPrintLinef(" SYSCLK = %d MHz", clocks.sclk_freq / 1000000);
cliPrintLinef(" ABH = %d MHz", clocks.ahb_freq / 1000000);
cliPrintLinef(" ABP1 = %d MHz", clocks.apb1_freq / 1000000);
Expand Down Expand Up @@ -4382,7 +4383,7 @@ static const char *_ubloxGetQuality(uint8_t quality)
case UBLOX_SIG_QUALITY_CODE_LOCK_TIME_SYNC: return "Code locked and time sync";
case UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC:
case UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC2:
case UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC3:
case UBLOX_SIG_QUALITY_CODE_CARRIER_LOCK_TIME_SYNC3:
return "Code and carrier locked and time sync";
default: return "Unknown";
}
Expand Down