Skip to content

Blackbox acceleration/vibration fixes #11447

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
breadoven merged 1 commit into from
Mar 25, 2026
Merged

Blackbox acceleration/vibration fixes #11447

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 4 additions & 3 deletions src/main/blackbox/blackbox.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -504,7 +504,7 @@ typedef struct blackboxMainState_s {
int16_t gyroPeaksYaw[DYN_NOTCH_PEAK_COUNT];

int16_t accADC[XYZ_AXIS_COUNT];
int16_t accVib;
uint16_t accVib;
int16_t attitude[XYZ_AXIS_COUNT];
int32_t debug[DEBUG32_VALUE_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
Expand Down Expand Up @@ -1642,7 +1642,7 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->axisPID_D[i] = axisPID_D[i];
blackboxCurrent->axisPID_F[i] = axisPID_F[i];
blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i]);
blackboxCurrent->accADC[i] = lrintf(acc.accADCf[i] * acc.dev.acc_1G);
blackboxCurrent->accADC[i] = constrain(lrintf(acc.accADCf[i] * acc.dev.acc_1G), -32678, 32767);
blackboxCurrent->gyroRaw[i] = lrintf(gyro.gyroRaw[i]);

#ifdef USE_DYNAMIC_FILTERS
Expand All @@ -1668,7 +1668,8 @@ static void loadMainState(timeUs_t currentTimeUs)
blackboxCurrent->mcVelAxisOutput[i] = lrintf(nav_pids->vel[i].output_constrained);
}
}
blackboxCurrent->accVib = lrintf(accGetVibrationLevel() * acc.dev.acc_1G);

blackboxCurrent->accVib = constrain(lrintf(accGetVibrationLevel() * acc.dev.acc_1G), 0, 65535);

if (STATE(FIXED_WING_LEGACY)) {

Expand Down
2 changes: 1 addition & 1 deletion src/main/sensors/acceleration.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -586,8 +586,8 @@ void accUpdate(void)
// calc difference from this sample and 5hz filtered value, square and filter at 2hz
const float accDiff = acc.accADCf[axis] - accFloorFilt;
acc.accVibeSq[axis] = pt1FilterApply(&accVibeFilter[axis], accDiff * accDiff);
acc.accVibe = fast_fsqrtf(acc.accVibeSq[X] + acc.accVibeSq[Y] + acc.accVibeSq[Z]);
}
acc.accVibe = fast_fsqrtf(acc.accVibeSq[X] + acc.accVibeSq[Y] + acc.accVibeSq[Z]);

// Filter acceleration
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
Expand Down
Loading