bb: introduce debug flags

src/config/config.h

@@ -1,17 +1,3 @@
-
-
-// Universal pids are already loaded for 5" brushless by default.  Adjust pids in pid.c file for your build.
-
-//**********************************************************************************************************************
-//***********************************************HARDWARE SELECTION*****************************************************
-
-//**********************************************************************************************************************
-//***********************************************NEW STUFF TO PLAY WITH*****************************************************
-
-#define THROTTLE_D_ATTENUATION
-#define TDA_BREAKPOINT 0.35f
-#define TDA_PERCENT 0.80f
-
 //**********************************************************************************************************************
 //***********************************************RATES & EXPO SETTINGS**************************************************
 
@@ -74,6 +60,11 @@
 // ************* expo for throttle with the zero crossing at THROTTLE_MID
 #define THROTTLE_EXPO 0.0f
 
+// ************* throttle d-term attenuation
+#define THROTTLE_D_ATTENUATION
+#define TDA_BREAKPOINT 0.35f
+#define TDA_PERCENT 0.80f
+
 //**********************************************************************************************************************
 //***********************************************RECEIVER SETTINGS******************************************************
 
@@ -121,6 +112,10 @@
 // *************RRD/LLD stick gesture aux start up state.  Gesture aux is AUX_CHANNEL_GESTURE
 // #define GESTURE_AUX_START_ON
 
+// *************failsafe time in uS
+#define FAILSAFE_TIME_US 1000000
+#define FAILSAFE_LOCK_TIME_MS 5000
+
 //**********************************************************************************************************************
 //***********************************************VOLTAGE SETTINGS*******************************************************
 
@@ -258,10 +253,6 @@
 // #############################################################################################################################
 // #############################################################################################################################
 
-// failsafe time in uS
-#define FAILSAFE_TIME_US 1000000
-#define FAILSAFE_LOCK_TIME_MS 5000
-
 // debug things ( debug struct and other)
 // #define DEBUG
 // #define DEBUG_LOGGING
@@ -274,4 +265,6 @@
 // #define NOMOTORS
 
 // change mixer to a plus configuration
-// #define MOTOR_PLUS_CONFIGURATION
+// #define MOTOR_PLUS_CONFIGURATION
+
+// #define BLACKBOX_DEBUG_FLAGS BBOX_DEBUG_DYN_NOTCH

src/core/profile.c

@@ -472,7 +472,10 @@ const profile_t default_profile = {
         },
     },
     .blackbox = {
-        // Initialized by profile_set_defaults(), so nothing to do here
+#ifdef BLACKBOX_DEBUG_FLAGS
+        .debug_flags = BLACKBOX_DEBUG_FLAGS,
+#endif
+        // rest is initialized by profile_set_defaults()
     },
 };
 

src/core/profile.h

@@ -334,12 +334,14 @@ typedef struct {
 
 typedef struct {
   uint32_t field_flags;
+  uint32_t debug_flags;
   uint32_t sample_rate_hz;
 } profile_blackbox_t;
 
 #define BLACKBOX_MEMBERS           \
   START_STRUCT(profile_blackbox_t) \
   MEMBER(field_flags, uint32_t)    \
+  MEMBER(debug_flags, uint32_t)    \
   MEMBER(sample_rate_hz, uint32_t) \
   END_STRUCT()
 

src/flight/sixaxis.c

@@ -183,7 +183,7 @@ void sixaxis_read() {
 
     if (profile.filter.gyro_dynamic_notch_enable) {
       for (uint32_t p = 0; p < SDFT_PEAKS; p++) {
-        blackbox_set_debug(i * SDFT_PEAKS + p, gyro_sdft[i].notch_hz[p]);
+        blackbox_set_debug(BBOX_DEBUG_DYN_NOTCH, i * SDFT_PEAKS + p, gyro_sdft[i].notch_hz[p]);
         state.gyro.axis[i] = filter_biquad_notch_step(&notch_filter[i][p], &notch_filter_state[i][p], state.gyro.axis[i]);
       }
     }

src/io/blackbox.c

@@ -78,10 +78,13 @@ void blackbox_init() {
   blackbox_device_init();
 }
 
-void blackbox_set_debug(uint8_t index, int16_t data) {
+void blackbox_set_debug(blackbox_debug_flag_t flag, uint8_t index, int16_t data) {
   if (index >= BLACKBOX_DEBUG_SIZE) {
     return;
   }
+  if ((profile.blackbox.field_flags & flag) != flag) {
+    return;
+  }
 
   blackbox.debug[index] = data;
 }
@@ -146,6 +149,6 @@ void blackbox_update() {
 }
 #else
 void blackbox_init() {}
-void blackbox_set_debug(uint8_t index, int16_t data) {}
+void blackbox_set_debug(blackbox_debug_flag_t flag, uint8_t index, int16_t data) {}
 void blackbox_update() {}
 #endif

src/io/blackbox.h

@@ -5,6 +5,29 @@
 #define BLACKBOX_SCALE 1000
 #define BLACKBOX_DEBUG_SIZE 10
 
+typedef enum {
+  BBOX_FIELD_LOOP,
+  BBOX_FIELD_TIME,
+  BBOX_FIELD_PID_P_TERM,
+  BBOX_FIELD_PID_I_TERM,
+  BBOX_FIELD_PID_D_TERM,
+  BBOX_FIELD_RX,
+  BBOX_FIELD_SETPOINT,
+  BBOX_FIELD_ACCEL_RAW,
+  BBOX_FIELD_ACCEL_FILTER,
+  BBOX_FIELD_GYRO_RAW,
+  BBOX_FIELD_GYRO_FILTER,
+  BBOX_FIELD_MOTOR,
+  BBOX_FIELD_CPU_LOAD,
+  BBOX_FIELD_DEBUG,
+
+  BBOX_FIELD_MAX,
+} blackbox_field_t;
+
+typedef enum {
+  BBOX_DEBUG_DYN_NOTCH = 0x1 << 0,
+} blackbox_debug_flag_t;
+
 typedef struct {
   uint32_t loop;
   uint32_t time;
@@ -30,27 +53,9 @@ typedef struct {
 } blackbox_t;
 
 // Blackbox fields (should align with above structure)
-typedef enum {
-  BBOX_FIELD_LOOP,
-  BBOX_FIELD_TIME,
-  BBOX_FIELD_PID_P_TERM,
-  BBOX_FIELD_PID_I_TERM,
-  BBOX_FIELD_PID_D_TERM,
-  BBOX_FIELD_RX,
-  BBOX_FIELD_SETPOINT,
-  BBOX_FIELD_ACCEL_RAW,
-  BBOX_FIELD_ACCEL_FILTER,
-  BBOX_FIELD_GYRO_RAW,
-  BBOX_FIELD_GYRO_FILTER,
-  BBOX_FIELD_MOTOR,
-  BBOX_FIELD_CPU_LOAD,
-  BBOX_FIELD_DEBUG,
-
-  BBOX_FIELD_MAX,
-} blackbox_field_t;
 
 cbor_result_t cbor_encode_blackbox_t(cbor_value_t *enc, const blackbox_t *b, const uint32_t field_flags);
 
 void blackbox_init();
-void blackbox_set_debug(uint8_t index, int16_t data);
+void blackbox_set_debug(blackbox_debug_flag_t flag, uint8_t index, int16_t data);
 void blackbox_update();