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Add Flight mode column to the CSV file #23

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merged 5 commits into from
Dec 11, 2020
Merged

Add Flight mode column to the CSV file #23

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ff46761
Add Flight mode column
danarrib Dec 9, 2020
62b01ff
Remove "dashware" option, and make the "flightMode" field always avai…
danarrib Dec 9, 2020
d150ffe
Fix Modes flags and separates rssi percent and throttle percent from …
danarrib Dec 10, 2020
5ad0616
Rename column flightMode to simplifiedMode
danarrib Dec 10, 2020
0565e81
Move enums to blackbox_fielddefs.h, add new enum for navstate and adj…
danarrib Dec 10, 2020
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130 changes: 83 additions & 47 deletions src/blackbox_decode.c
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,6 @@ typedef struct decodeOptions_t {
int simulateCurrentMeter;
int mergeGPS;
int datetime;
int dashWare;
const char *outputPrefix;

bool overrideSimCurrentMeterOffset, overrideSimCurrentMeterScale;
Expand All @@ -68,7 +67,6 @@ decodeOptions_t options = {
.simulateCurrentMeter = false,
.mergeGPS = 0,
.datetime = 0,
.dashWare = 0,

.overrideSimCurrentMeterOffset = false,
.overrideSimCurrentMeterScale = false,
Expand All @@ -87,14 +85,7 @@ decodeOptions_t options = {
.unitFlags = UNIT_FLAGS,
};

//We'll use field names to identify GPS field units so the values can be formatted for display
typedef enum {
GPS_FIELD_TYPE_INTEGER,
GPS_FIELD_TYPE_DEGREES_TIMES_10, // for headings
GPS_FIELD_TYPE_COORDINATE_DEGREES_TIMES_10000000,
GPS_FIELD_TYPE_METERS_PER_SECOND_TIMES_100,
GPS_FIELD_TYPE_METERS
} GPSFieldType;
#define FLIGHT_MODE(mask) (flightModeFlags & (mask))

static GPSFieldType gpsFieldTypes[FLIGHT_LOG_MAX_FIELDS];

Expand Down Expand Up @@ -125,7 +116,7 @@ static int64_t bufferedGPSFrame[FLIGHT_LOG_MAX_FIELDS];

static seriesStats_t looptimeStats;

// DashWare
// Additional variables for information overlay
static int64_t rssiPercent;
static int64_t throttlePercent;
static int64_t homeDistanceMeters;
Expand All @@ -141,7 +132,9 @@ static int64_t gpsHomeLon;
static int64_t gpsCurrentLat;
static int64_t gpsCurrentLon;
static int64_t gpsCurrentCourse;

static int64_t navState;
static int64_t flightModeFlags;
static int64_t failsafeFlags;


#define ADJUSTMENT_FUNCTION_COUNT 21
Expand Down Expand Up @@ -250,8 +243,7 @@ static bool fprintfMainFieldInUnit(flightLog_t *log, FILE *file, int fieldIndex,
if (fieldIndex == log->mainFieldIndexes.amperageLatest) {
if (log->sysConfig.vbatType == INAV_V2) {
fprintf(file, "%.3f", (uint16_t)fieldValue / 100.0);
if(options.dashWare)
currentDrawMilliamps = (int64_t)fieldValue * 10;
currentDrawMilliamps = (int64_t)fieldValue * 10;
}
else
fprintfMilliampsInUnit(file, flightLogAmperageADCToMilliamps(log, (uint16_t)fieldValue), unit);
Expand Down Expand Up @@ -324,23 +316,17 @@ static bool fprintfMainFieldInUnit(flightLog_t *log, FILE *file, int fieldIndex,
fprintf(file, "%3u", (uint32_t) fieldValue);
}

if (options.dashWare)
{
if (fieldIndex == log->mainFieldIndexes.rssi)
{
// Store RSSI percent to use for dashWare
rssiPercent = (((int64_t)fieldValue) / 1023.0) * 99;
}

if (fieldIndex == log->mainFieldIndexes.motor[0])
{
// Store Throttle percent to use for dashWare
throttlePercent = ((int64_t)fieldValue) - 1000;
throttlePercent = (throttlePercent / 1000.0) * 100;
}

}

return true;
break;
default:
Expand Down Expand Up @@ -606,6 +592,48 @@ void GPS_distance_cm_bearing(int64_t currentLat1, int64_t currentLon1, int64_t d
homeDirectionDegrees += 360;
}

void flightModeName(FILE *file) {
char *p = "ACRO";

bool cruise = false;
bool failsafe = false;

if (navState == NAV_STATE_CRUISE_2D_ADJUSTING || navState == NAV_STATE_CRUISE_2D_IN_PROGRESS ||
navState == NAV_STATE_CRUISE_3D_ADJUSTING || navState == NAV_STATE_CRUISE_3D_IN_PROGRESS)
cruise = true;

if (failsafeFlags != FAILSAFE_IDLE)
failsafe = true;

if (failsafe) {
p = "!FS!";
} else if (FLIGHT_MODE(MANUAL_MODE)) {
p = "MANU";
} else if (FLIGHT_MODE(NAV_RTH_MODE)){
p = "RTH ";
} else if (FLIGHT_MODE(NAV_POSHOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE)){
p = "A+PH";
} else if (cruise && FLIGHT_MODE(NAV_ALTHOLD_MODE)){
p = "3CRS";
} else if (cruise){
p = "CRS ";
} else if (FLIGHT_MODE(NAV_POSHOLD_MODE)){
p = " PH ";
} else if (FLIGHT_MODE(NAV_ALTHOLD_MODE)){
p = " AH ";
} else if (FLIGHT_MODE(NAV_WP_MODE)){
p = " WP ";
} else if (FLIGHT_MODE(ANGLE_MODE)){
p = "ANGL";
} else if (FLIGHT_MODE(HORIZON_MODE)){
p = "HOR ";
}

fprintf(file, ", ");
fprintf(file, "%s", p);

}

/**
* Print the GPS fields from the given GPS frame as comma-separated values (the GPS frame time is not printed).
*/
Expand All @@ -624,16 +652,14 @@ void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
if (i == log->gpsFieldIndexes.time)
continue;

if (options.dashWare) {
if (i == log->gpsFieldIndexes.GPS_coord[0])
gpsCurrentLat = frame[i];
if (i == log->gpsFieldIndexes.GPS_coord[0])
gpsCurrentLat = frame[i];

if (i == log->gpsFieldIndexes.GPS_coord[1])
gpsCurrentLon = frame[i];
if (i == log->gpsFieldIndexes.GPS_coord[1])
gpsCurrentLon = frame[i];

if (i == log->gpsFieldIndexes.GPS_ground_course)
gpsCurrentCourse = frame[i] / 10; // Decidegrees
}
if (i == log->gpsFieldIndexes.GPS_ground_course)
gpsCurrentCourse = frame[i] / 10; // Decidegrees

if (needComma)
fprintf(file, ", ");
Expand All @@ -656,8 +682,7 @@ void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
fprintf(file, "%" PRId64, frame[i]);
} else if (options.unitGPSSpeed == UNIT_METERS_PER_SECOND) {
fprintf(file, "%" PRId64 ".%02u", frame[i] / 100, (unsigned) (llabs(frame[i]) % 100));
if (options.dashWare)
gpsSpdCmPerSecond = frame[i];
gpsSpdCmPerSecond = frame[i];
} else {
fprintf(file, "%.2f", convertMetersPerSecondToUnit(frame[i] / 100.0, options.unitGPSSpeed));
}
Expand All @@ -672,12 +697,8 @@ void outputGPSFields(flightLog_t *log, FILE *file, int64_t *frame)
}


// Adding Dashware fields
if (options.dashWare) {
// rssi (%)
fprintf(file, ", %" PRId64, rssiPercent);
// Throttle (%)
fprintf(file, ", %" PRId64, throttlePercent);
// Adding information overlay fields (i.e. Dashware)
if (options.mergeGPS) {

// Check if home point coordinates has changed by A LOT since the last iteration. It indicates a bogus frame
if ( (log->sysConfig.gpsHomeLatitude ) < (gpsHomeLat - 100000) || (log->sysConfig.gpsHomeLatitude) > (gpsHomeLat + 100000 )
Expand Down Expand Up @@ -779,7 +800,15 @@ void outputSlowFrameFields(flightLog_t *log, int64_t *frame)
needComma = true;
}

if ((i == log->slowFieldIndexes.flightModeFlags || i == log->slowFieldIndexes.stateFlags)
if (i == log->slowFieldIndexes.flightModeFlags && options.unitFlags == UNIT_FLAGS) {
flightModeFlags = frame[i];
}

if (i == log->slowFieldIndexes.failsafePhase && options.unitFlags == UNIT_FLAGS) {
failsafeFlags = frame[i];
}

if ((i == log->slowFieldIndexes.flightModeFlags || i == log->slowFieldIndexes.stateFlags)
&& options.unitFlags == UNIT_FLAGS) {

if (i == log->slowFieldIndexes.flightModeFlags) {
Expand Down Expand Up @@ -819,6 +848,10 @@ void outputMainFrameFields(flightLog_t *log, int64_t frameTime, int64_t *frame)
needComma = true;
}

if (log->mainFieldIndexes.navState == i) {
navState = frame[i];
}

if (i == FLIGHT_LOG_FIELD_INDEX_TIME) {
// Use the time the caller provided instead of the time in the frame
if (frameTime == -1) {
Expand Down Expand Up @@ -856,6 +889,14 @@ void outputMainFrameFields(flightLog_t *log, int64_t frameTime, int64_t *frame)

outputSlowFrameFields(log, bufferedSlowFrame);
}

// Adding Flight Mode
flightModeName(csvFile);

// rssi (%)
fprintf(csvFile, ", %" PRId64, rssiPercent);
// Throttle (%)
fprintf(csvFile, ", %" PRId64, throttlePercent);
}

void outputMergeFrame(flightLog_t *log)
Expand Down Expand Up @@ -1163,14 +1204,17 @@ void writeMainCSVHeader(flightLog_t *log)
outputFieldNamesHeader(csvFile, &log->frameDefs['S'], slowFieldUnit, false);
}

// Add flight mode, rssi (%) and Throttle (%) headers
fprintf(csvFile, ", simplifiedMode, rssi (%%), Throttle (%%)");

if (options.mergeGPS && log->frameDefs['G'].fieldCount > 0) {
fprintf(csvFile, ", ");

outputFieldNamesHeader(csvFile, &log->frameDefs['G'], gpsGFieldUnit, true);
}

if (options.dashWare && log->frameDefs['G'].fieldCount > 0) {
fprintf(csvFile, ", rssi (%%), Throttle (%%), Distance (m), homeDirection, mAhPerKm, cumulativeTripDistance, azimuth");
if (options.mergeGPS && log->frameDefs['G'].fieldCount > 0) {
fprintf(csvFile, ", Distance (m), homeDirection, mAhPerKm, cumulativeTripDistance, azimuth");
}

fprintf(csvFile, "\n");
Expand Down Expand Up @@ -1474,7 +1518,6 @@ void printUsage(const char *argv0)
" --limits Print the limits and range of each field\n"
" --stdout Write log to stdout instead of to a file\n"
" --datetime Add a dateTime column with UTC date time\n"
" --dashware Add some relevant fields for overlay using DashWare (forces --datetime and --merge-gps)\n"
" --unit-amperage <unit> Current meter unit (raw|mA|A), default is A (amps)\n"
" --unit-flags <unit> State flags unit (raw|flags), default is flags\n"
" --unit-frame-time <unit> Frame timestamp unit (us|s), default is us (microseconds)\n"
Expand Down Expand Up @@ -1538,7 +1581,6 @@ void parseCommandlineOptions(int argc, char **argv)
{"stdout", no_argument, &options.toStdout, 1},
{ "merge-gps", no_argument, &options.mergeGPS, 1 },
{ "datetime", no_argument, &options.datetime, 1 },
{"dashware", no_argument, &options.dashWare, 1 },
{"simulate-imu", no_argument, &options.simulateIMU, 1},
{"simulate-current-meter", no_argument, &options.simulateCurrentMeter, 1},
{"imu-ignore-mag", no_argument, &options.imuIgnoreMag, 1},
Expand Down Expand Up @@ -1666,12 +1708,6 @@ int main(int argc, char **argv)

parseCommandlineOptions(argc, argv);

if (options.dashWare)
{
options.datetime = 1;
options.mergeGPS = 1;
}

if (options.help || argc == 1) {
printUsage(argv[0]);
return -1;
Expand Down
29 changes: 29 additions & 0 deletions src/blackbox_fielddefs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -192,3 +192,32 @@ typedef struct flightLogEvent_t
FlightLogEvent event;
flightLogEventData_t data;
} flightLogEvent_t;

typedef enum {
GPS_FIELD_TYPE_INTEGER,
GPS_FIELD_TYPE_DEGREES_TIMES_10, // for headings
GPS_FIELD_TYPE_COORDINATE_DEGREES_TIMES_10000000,
GPS_FIELD_TYPE_METERS_PER_SECOND_TIMES_100,
GPS_FIELD_TYPE_METERS
} GPSFieldType;

typedef enum {
NAV_STATE_CRUISE_2D_IN_PROGRESS = 30,
NAV_STATE_CRUISE_2D_ADJUSTING = 31,
NAV_STATE_CRUISE_3D_IN_PROGRESS = 33,
NAV_STATE_CRUISE_3D_ADJUSTING = 34,

} navigationFSMState_t;

typedef enum {
ACRO_MODE = (1 << 0),
ANGLE_MODE = (1 << 1),
HORIZON_MODE = (1 << 2),
NAV_ALTHOLD_MODE = (1 << 3), // old BARO
HEADING_MODE = (1 << 4),
HEADFREE_MODE = (1 << 5),
NAV_RTH_MODE = (1 << 8), // old GPS_HOME
NAV_POSHOLD_MODE = (1 << 9), // old GPS_HOLD
MANUAL_MODE = (1 << 10),
NAV_WP_MODE = (1 << 19),
} flightModeFlags_e;
2 changes: 2 additions & 0 deletions src/parser.c
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Original file line number Diff line number Diff line change
Expand Up @@ -246,6 +246,8 @@ static void identifyMainFields(flightLog_t *log, flightLogFrameDef_t *frameDef)
log->mainFieldIndexes.loopIteration = fieldIndex;
} else if (strcmp(fieldName, "time") == 0) {
log->mainFieldIndexes.time = fieldIndex;
} else if (strcmp(fieldName, "navState") == 0) {
log->mainFieldIndexes.navState = fieldIndex;
}
}
}
Expand Down
1 change: 1 addition & 0 deletions src/parser.h
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Expand Up @@ -96,6 +96,7 @@ typedef struct slowFieldIndexes_t {
typedef struct mainFieldIndexes_t {
int loopIteration;
int time;
int navState;

int pid[3][3]; //First dimension is [P, I, D], second dimension is axis

Expand Down