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Log estimated wind speed to BB slow frames #3522

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merged 3 commits into from Jul 7, 2018
Merged

Log estimated wind speed to BB slow frames #3522

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365d5c8
Log estimated wind speed to BB slow frames
giacomo892 Jul 5, 2018
e9ac8b9
decrease CPU load on wind logging
giacomo892 Jul 6, 2018
950f96f
more optimization
giacomo892 Jul 6, 2018
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13 changes: 13 additions & 0 deletions src/main/blackbox/blackbox.c
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Expand Up @@ -75,6 +75,7 @@
#include "sensors/pitotmeter.h"
#include "sensors/rangefinder.h"
#include "sensors/sensors.h"
#include "flight/wind_estimator.h"


#if defined(ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT)
Expand Down Expand Up @@ -339,6 +340,9 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
{"hwHealthStatus", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"powerSupplyImpedance", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"sagCompensatedVBat", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"horizontalWindSpeed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"verticalWindSpeed", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
{"windDirection", -1, UNSIGNED, PREDICT(0), ENCODING(UNSIGNED_VB)},
};

typedef enum BlackboxState {
Expand Down Expand Up @@ -436,6 +440,9 @@ typedef struct blackboxSlowState_s {
int32_t hwHealthStatus;
uint16_t powerSupplyImpedance;
uint16_t sagCompensatedVBat;
int16_t horizontalWindSpeed;
int16_t verticalWindSpeed;
uint16_t windDirection;
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()

//From rc_controls.c
Expand Down Expand Up @@ -1021,6 +1028,10 @@ static void writeSlowFrame(void)
blackboxWriteUnsignedVB(slowHistory.powerSupplyImpedance);
blackboxWriteUnsignedVB(slowHistory.sagCompensatedVBat);

blackboxWriteUnsignedVB(slowHistory.horizontalWindSpeed);
blackboxWriteUnsignedVB(slowHistory.verticalWindSpeed);
blackboxWriteUnsignedVB(slowHistory.windDirection);

blackboxSlowFrameIterationTimer = 0;
}

Expand All @@ -1043,6 +1054,8 @@ static void loadSlowState(blackboxSlowState_t *slow)
(getHwPitotmeterStatus() << 2 * 6);
slow->powerSupplyImpedance = getPowerSupplyImpedance();
slow->sagCompensatedVBat = getBatterySagCompensatedVoltage();
slow->horizontalWindSpeed = getEstimatedHorizontalWindSpeed(&slow->windDirection);
slow->verticalWindSpeed = getEstimatedWindSpeed(Z);
}

/**
Expand Down