cr148

Author: breadoven

src/main/blackbox/blackbox.c

@@ -106,6 +106,7 @@ PG_RESET_TEMPLATE(blackboxConfig_t, blackboxConfig,
     .rate_num = SETTING_BLACKBOX_RATE_NUM_DEFAULT,
     .rate_denom = SETTING_BLACKBOX_RATE_DENOM_DEFAULT,
     .invertedCardDetection = BLACKBOX_INVERTED_CARD_DETECTION,
+    .arm_control = SETTING_BLACKBOX_ARM_CONTROL_DEFAULT,  // CR148
     .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 |
@@ -469,20 +470,20 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
 #endif
 };
 
-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_PAUSED,
-    BLACKBOX_STATE_RUNNING,
-    BLACKBOX_STATE_SHUTTING_DOWN
-} BlackboxState;
+// 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_PAUSED,
+    // BLACKBOX_STATE_RUNNING,
+    // BLACKBOX_STATE_SHUTTING_DOWN
+// } BlackboxState;
 
 #define BLACKBOX_FIRST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_HEADER
 #define BLACKBOX_LAST_HEADER_SENDING_STATE BLACKBOX_STATE_SEND_SYSINFO
@@ -2322,7 +2323,12 @@ static bool canUseBlackboxWithCurrentConfiguration(void)
 {
     return feature(FEATURE_BLACKBOX);
 }
-
+// CR148
+BlackboxState getBlackboxState(void)
+{
+    return blackboxState;
+}
+// CR148
 /**
  * Call during system startup to initialize the blackbox.
  */

src/main/blackbox/blackbox.h

@@ -37,12 +37,29 @@ typedef enum {
     BLACKBOX_FEATURE_GYRO_PEAKS_YAW     = 1 << 12,
     BLACKBOX_FEATURE_SERVOS             = 1 << 13,
 } blackboxFeatureMask_e;
+// CR148
+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_PAUSED,
+    BLACKBOX_STATE_RUNNING,
+    BLACKBOX_STATE_SHUTTING_DOWN
+} BlackboxState;
+// CR148
 typedef struct blackboxConfig_s {
     uint16_t rate_num;
     uint16_t rate_denom;
     uint8_t device;
     uint8_t invertedCardDetection;
     uint32_t includeFlags;
+    int8_t arm_control;  // CR148
 } blackboxConfig_t;
 
 PG_DECLARE(blackboxConfig_t, blackboxConfig);
@@ -57,3 +74,4 @@ bool blackboxMayEditConfig(void);
 void blackboxIncludeFlagSet(uint32_t mask);
 void blackboxIncludeFlagClear(uint32_t mask);
 bool blackboxIncludeFlag(uint32_t mask);
+BlackboxState getBlackboxState(void);  // CR148

src/main/fc/fc_core.c

@@ -22,6 +22,7 @@
 #include "platform.h"
 
 #include "blackbox/blackbox.h"
+#include "blackbox/blackbox_io.h"  // CR148
 
 #include "build/debug.h"
 
@@ -279,20 +280,16 @@ static void updateArmingStatus(void)
 #endif
 
 #ifdef USE_GEOZONE
-    if (feature(FEATURE_GEOZONE) && geozoneIsBlockingArming()) {
-        ENABLE_ARMING_FLAG(ARMING_DISABLED_GEOZONE);
-    } else {
-        DISABLE_ARMING_FLAG(ARMING_DISABLED_GEOZONE);
-    }
+        if (feature(FEATURE_GEOZONE) && geozoneIsBlockingArming()) {
+            ENABLE_ARMING_FLAG(ARMING_DISABLED_GEOZONE);
+        } else {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_GEOZONE);
+        }
 #endif
 
         /* CHECK: */
-        if (
-            sensors(SENSOR_ACC) &&
-            !STATE(ACCELEROMETER_CALIBRATED) &&
-            // Require ACC calibration only if any of the setting might require it
-            isAccRequired()
-        ) {
+        // Require ACC calibration only if any of the setting might require it
+        if (sensors(SENSOR_ACC) && !STATE(ACCELEROMETER_CALIBRATED) && isAccRequired()) {
             ENABLE_ARMING_FLAG(ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED);
         }
         else {
@@ -443,11 +440,11 @@ void disarm(disarmReason_t disarmReason)
         DISABLE_ARMING_FLAG(ARMED);
         DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
 
-#ifdef USE_BLACKBOX
-        if (feature(FEATURE_BLACKBOX)) {
-            blackboxFinish();
-        }
-#endif
+// #ifdef USE_BLACKBOX  // CR148
+        // if (feature(FEATURE_BLACKBOX)) {
+            // blackboxFinish();
+        // }
+// #endif
 #ifdef USE_DSHOT
         if (FLIGHT_MODE(TURTLE_MODE)) {
             sendDShotCommand(DSHOT_CMD_SPIN_DIRECTION_NORMAL);
@@ -589,15 +586,15 @@ void tryArm(void)
 
         resetHeadingHoldTarget(DECIDEGREES_TO_DEGREES(attitude.values.yaw));
 
-#ifdef USE_BLACKBOX
-        if (feature(FEATURE_BLACKBOX)) {
-            serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
-            if (sharedBlackboxAndMspPort) {
-                mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
-            }
-            blackboxStart();
-        }
-#endif
+// #ifdef USE_BLACKBOX  // CR148
+        // if (feature(FEATURE_BLACKBOX)) {
+            // serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+            // if (sharedBlackboxAndMspPort) {
+                // mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
+            // }
+            // blackboxStart();
+        // }
+// #endif
 
         //beep to indicate arming
         if (navigationPositionEstimateIsHealthy()) {
@@ -879,10 +876,45 @@ static void applyThrottleTiltCompensation(void)
         }
     }
 }
+// CR148
+bool isMspConfigActive(bool isActive)
+{
+    static timeMs_t lastActive = 0;
 
-void taskMainPidLoop(timeUs_t currentTimeUs)
+    if (isActive) {
+        lastActive = millis();
+    }
+
+    return millis() - lastActive < 1000;
+}
+#ifdef USE_BLACKBOX
+static void processBlackbox(void)
 {
+    if (getBlackboxState() == BLACKBOX_STATE_DISABLED || isBlackboxDeviceFull()) {
+        return;
+    }
 
+    if (getBlackboxState() == BLACKBOX_STATE_STOPPED) {
+        if ((blackboxConfig()->arm_control == -1 && !areSensorsCalibrating() && !isMspConfigActive(NULL)) || ARMING_FLAG(ARMED)) {
+            serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
+            if (sharedBlackboxAndMspPort) {
+                mspSerialReleasePortIfAllocated(sharedBlackboxAndMspPort);
+            }
+            blackboxStart();
+        }
+    } else if (!ARMING_FLAG(ARMED)) {
+        if ((blackboxConfig()->arm_control == -1 && isMspConfigActive(NULL)) ||
+            (blackboxConfig()->arm_control >= 0 && micros() - lastDisarmTimeUs > (timeUs_t)(USECS_PER_SEC * blackboxConfig()->arm_control))) {
+            blackboxFinish();
+        }
+    }
+
+    blackboxUpdate(micros());
+}
+#endif
+// CR148
+void taskMainPidLoop(timeUs_t currentTimeUs)
+{
     cycleTime = getTaskDeltaTime(TASK_SELF);
     dT = (float)cycleTime * 0.000001f;
 
@@ -981,7 +1013,8 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 
 #ifdef USE_BLACKBOX
     if (!cliMode && feature(FEATURE_BLACKBOX)) {
-        blackboxUpdate(micros());
+        processBlackbox();
+        // blackboxUpdate(micros());  // CR148
     }
 #endif
 

src/main/fc/fc_core.h

@@ -47,4 +47,6 @@ float getFlightTime(void);
 void resetFlightTime(void);
 float getArmTime(void);
 
-void fcReboot(bool bootLoader);
+void fcReboot(bool bootLoader);
+
+bool isMspConfigActive(bool isActive);  // CR148

src/main/fc/fc_msp.c

@@ -422,6 +422,8 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU8(dst, getHwRangefinderStatus());
         sbufWriteU8(dst, getHwPitotmeterStatus());
         sbufWriteU8(dst, getHwOpticalFlowStatus());
+
+        isMspConfigActive(true);  // CR148
         break;
 
     case MSP_ACTIVEBOXES:
@@ -2814,7 +2816,13 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 
 #ifdef USE_FLASHFS
     case MSP_DATAFLASH_ERASE:
-        flashfsEraseCompletely();
+        // CR148
+        if (blackboxMayEditConfig()) {
+            flashfsEraseCompletely();
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+        // CR148
         break;
 #endif
 

src/main/fc/settings.yaml

@@ -819,6 +819,14 @@ groups:
         field: invertedCardDetection
         condition: USE_SDCARD
         type: bool
+        # CR148
+      - name: blackbox_arm_control
+        description: "Determines behaviour of logging in relation to Arm state. For settings from 0 to 60 logging will start on Arm with the setting determining how long logging will continue after disarm in seconds, i.e. set to 0 to stop logging at disarm or 10 to stop logging 10s after disarm. Set to -1 to start logging from boot up until power off (Use with caution - mainly for debugging and best used with BLACKBOX mode)."
+        default_value: 0
+        field: arm_control
+        min: -1
+        max: 60
+        # CR148
 
   - name: PG_MOTOR_CONFIG
     type: motorConfig_t
@@ -2177,7 +2185,7 @@ groups:
         max: 255
       - name: nav_fw_pos_z_ff
         description: "FF gain of altitude PID controller (Fixedwing)"
-        default_value: 10
+        default_value: 35
         field: bank_fw.pid[PID_POS_Z].FF
         min: 0
         max: 255