diff --git a/locales/en/messages.json b/locales/en/messages.json
index a0bf2d16..a4191f28 100644
--- a/locales/en/messages.json
+++ b/locales/en/messages.json
@@ -4819,6 +4819,9 @@
"onboardLoggingRateOfLogging": {
"message": "Blackbox logging rate"
},
+ "onboardLoggingDebugMode": {
+ "message": "Blackbox debug mode"
+ },
"onboardLoggingSerialLogger": {
"message": "Outboard serial logging device"
},
diff --git a/src/css/tabs-dark/onboard_logging-dark.css b/src/css/tabs-dark/onboard_logging-dark.css
index aa533321..34176abd 100644
--- a/src/css/tabs-dark/onboard_logging-dark.css
+++ b/src/css/tabs-dark/onboard_logging-dark.css
@@ -27,6 +27,7 @@
}
.tab-onboard_logging .blackboxRate select,
+.tab-onboard_logging .blackboxDebugMode select,
.tab-onboard_logging .blackboxDevice select {
border: 1px solid #9c9c9c;
background-color: #3a3a3a;
diff --git a/src/css/tabs/onboard_logging.css b/src/css/tabs/onboard_logging.css
index 3649eb6e..d0f1eaf5 100644
--- a/src/css/tabs/onboard_logging.css
+++ b/src/css/tabs/onboard_logging.css
@@ -292,6 +292,7 @@
clear: left;
}
.tab-onboard_logging .blackboxRate select,
+.tab-onboard_logging .blackboxDebugMode select,
.tab-onboard_logging .blackboxDevice select {
float: left;
width: 180px;
@@ -300,6 +301,7 @@
border: 1px solid silver;
}
.tab-onboard_logging .blackboxRate span,
+.tab-onboard_logging .blackboxDebugMode span,
.tab-onboard_logging .blackboxDevice span {
line-height: 20px;
}
diff --git a/src/js/fc.js b/src/js/fc.js
index e7a3a320..1b854982 100644
--- a/src/js/fc.js
+++ b/src/js/fc.js
@@ -353,6 +353,15 @@ var FC = {
motor_pwm_rate: 0,
digitalIdlePercent: 0,
gyroUse32kHz: 0,
+ motorPwmInversion: 0,
+ gyroToUse: 0,
+ gyroHighFsr: 0,
+ gyroMovementCalibThreshold: 0,
+ gyroCalibDuration: 0,
+ gyroOffsetYaw: 0,
+ gyroCheckOverflow: 0,
+ debugMode: 0,
+ debugModeCount: 0,
};
FILTER_CONFIG = {
diff --git a/src/js/msp/MSPHelper.js b/src/js/msp/MSPHelper.js
index 921e0e38..98c73924 100644
--- a/src/js/msp/MSPHelper.js
+++ b/src/js/msp/MSPHelper.js
@@ -949,6 +949,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
let gyroUse32kHz = data.readU8();
if (semver.lt(CONFIG.apiVersion, "1.41.0")) {
PID_ADVANCED_CONFIG.gyroUse32kHz = gyroUse32kHz;
+ }
+ if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+ PID_ADVANCED_CONFIG.motorPwmInversion = data.readU8();
+ PID_ADVANCED_CONFIG.gyroToUse = data.readU8();
+ PID_ADVANCED_CONFIG.gyroHighFsr = data.readU8();
+ PID_ADVANCED_CONFIG.gyroMovementCalibThreshold = data.readU8();
+ PID_ADVANCED_CONFIG.gyroCalibDuration = data.readU16();
+ PID_ADVANCED_CONFIG.gyroOffsetYaw = data.readU16();
+ PID_ADVANCED_CONFIG.gyroCheckOverflow = data.readU8();
+ PID_ADVANCED_CONFIG.debugMode = data.readU8();
+ PID_ADVANCED_CONFIG.debugModeCount = data.readU8();
}
}
}
@@ -1236,6 +1247,7 @@ MspHelper.prototype.process_data = function(dataHandler) {
BLACKBOX.blackboxRateDenom = data.readU8();
if (semver.gte(CONFIG.apiVersion, "1.36.0")) {
BLACKBOX.blackboxPDenom = data.readU16();
+
}
break;
case MSPCodes.MSP_SET_BLACKBOX_CONFIG:
@@ -1704,6 +1716,16 @@ MspHelper.prototype.crunch = function(code) {
gyroUse32kHz = PID_ADVANCED_CONFIG.gyroUse32kHz;
}
buffer.push8(gyroUse32kHz);
+ if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+ buffer.push8(PID_ADVANCED_CONFIG.motorPwmInversion)
+ .push8(PID_ADVANCED_CONFIG.gyroToUse)
+ .push8(PID_ADVANCED_CONFIG.gyroHighFsr)
+ .push8(PID_ADVANCED_CONFIG.gyroMovementCalibThreshold)
+ .push16(PID_ADVANCED_CONFIG.gyroCalibDuration)
+ .push16(PID_ADVANCED_CONFIG.gyroOffsetYaw)
+ .push8(PID_ADVANCED_CONFIG.gyroCheckOverflow)
+ .push8(PID_ADVANCED_CONFIG.debugMode);
+ }
}
}
break;
diff --git a/src/js/tabs/onboard_logging.js b/src/js/tabs/onboard_logging.js
index 1e4aa9dd..168ec3d2 100644
--- a/src/js/tabs/onboard_logging.js
+++ b/src/js/tabs/onboard_logging.js
@@ -100,6 +100,7 @@ TABS.onboard_logging.initialize = function (callback) {
var deviceSelect = $(".blackboxDevice select");
var loggingRatesSelect = $(".blackboxRate select");
+ var debugModeSelect = $(".blackboxDebugMode select");
if (BLACKBOX.supported) {
$(".tab-onboard_logging a.save-settings").click(function() {
@@ -110,15 +111,18 @@ TABS.onboard_logging.initialize = function (callback) {
BLACKBOX.blackboxRateNum = parseInt(rate[0], 10);
BLACKBOX.blackboxRateDenom = parseInt(rate[1], 10);
}
-
BLACKBOX.blackboxDevice = parseInt(deviceSelect.val(), 10);
-
+ if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+ PID_ADVANCED_CONFIG.debugMode = parseInt(debugModeSelect.val());
+ MSP.send_message(MSPCodes.MSP_SET_ADVANCED_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_ADVANCED_CONFIG), false, save_to_eeprom);
+ }
MSP.send_message(MSPCodes.MSP_SET_BLACKBOX_CONFIG, mspHelper.crunch(MSPCodes.MSP_SET_BLACKBOX_CONFIG), false, save_to_eeprom);
});
}
populateLoggingRates(loggingRatesSelect);
populateDevices(deviceSelect);
+ populateDebugModes(debugModeSelect);
deviceSelect.change(function() {
if ($(this).val() === "0") {
@@ -250,6 +254,89 @@ TABS.onboard_logging.initialize = function (callback) {
loggingRatesSelect.val(BLACKBOX.blackboxRateNum + '/' + BLACKBOX.blackboxRateDenom);
}
}
+
+ function populateDebugModes(debugModeSelect) {
+ var debugModes = [];
+
+ if (semver.gte(CONFIG.apiVersion, "1.42.0")) {
+ $('.blackboxDebugMode').show();
+
+ debugModes = [
+ {text: "NONE"},
+ {text: "CYCLETIME"},
+ {text: "BATTERY"},
+ {text: "GYRO_FILTERED"},
+ {text: "ACCELEROMETER"},
+ {text: "PIDLOOP"},
+ {text: "GYRO_SCALED"},
+ {text: "RC_INTERPOLATION"},
+ {text: "ANGLERATE"},
+ {text: "ESC_SENSOR"},
+ {text: "SCHEDULER"},
+ {text: "STACK"},
+ {text: "ESC_SENSOR_RPM"},
+ {text: "ESC_SENSOR_TMP"},
+ {text: "ALTITUDE"},
+ {text: "FFT"},
+ {text: "FFT_TIME"},
+ {text: "FFT_FREQ"},
+ {text: "RX_FRSKY_SPI"},
+ {text: "RX_SFHSS_SPI"},
+ {text: "GYRO_RAW"},
+ {text: "DUAL_GYRO"},
+ {text: "DUAL_GYRO_RAW"},
+ {text: "DUAL_GYRO_COMBINE"},
+ {text: "DUAL_GYRO_DIFF"},
+ {text: "MAX7456_SIGNAL"},
+ {text: "MAX7456_SPICLOCK"},
+ {text: "SBUS"},
+ {text: "FPORT"},
+ {text: "RANGEFINDER"},
+ {text: "RANGEFINDER_QUALITY"},
+ {text: "LIDAR_TF"},
+ {text: "ADC_INTERNAL"},
+ {text: "RUNAWAY_TAKEOFF"},
+ {text: "SDIO"},
+ {text: "CURRENT_SENSOR"},
+ {text: "USB"},
+ {text: "SMARTAUDIO"},
+ {text: "RTH"},
+ {text: "ITERM_RELAX"},
+ {text: "ACRO_TRAINER"},
+ {text: "RC_SMOOTHING"},
+ {text: "RX_SIGNAL_LOSS"},
+ {text: "RC_SMOOTHING_RATE"},
+ {text: "ANTI_GRAVITY"},
+ {text: "DYN_LPF"},
+ {text: "RX_SPEKTRUM_SPI"},
+ {text: "DSHOT_RPM_TELEMETRY"},
+ {text: "RPM_FILTER"},
+ {text: "D_MIN"},
+ {text: "AC_CORRECTION"},
+ {text: "AC_ERROR"},
+ {text: "DUAL_GYRO_SCALED"},
+ {text: "DSHOT_RPM_ERRORS"},
+ {text: "CRSF_LINK_STATISTICS_UPLINK"},
+ {text: "CRSF_LINK_STATISTICS_PWR"},
+ {text: "CRSF_LINK_STATISTICS_DOWN"},
+ {text: "BARO"},
+ {text: "GPS_RESCUE_THROTTLE_PID"},
+ {text: "DYN_IDLE"},
+ ];
+
+ for (var i = 0; i < PID_ADVANCED_CONFIG.debugModeCount; i++) {
+ if (i < debugModes.length) {
+ debugModeSelect.append(new Option(debugModes[i].text, i));
+ } else {
+ debugModeSelect.append(new Option("UNKNOWN", i));
+ }
+ }
+
+ debugModeSelect.val(PID_ADVANCED_CONFIG.debugMode);
+ } else {
+ $('.blackboxDebugMode').hide();
+ }
+ }
function formatFilesizeKilobytes(kilobytes) {
if (kilobytes < 1024) {
diff --git a/src/tabs/onboard_logging.html b/src/tabs/onboard_logging.html
index cecf6c1b..fc6715b6 100644
--- a/src/tabs/onboard_logging.html
+++ b/src/tabs/onboard_logging.html
@@ -30,6 +30,11 @@
+
+
+
+