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pid bandwidth blackbox headers
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@rtlopez
rtlopez committed Jul 27, 2024
1 parent 7e973c2 commit ccaed87
Showing 1 changed file with 13 additions and 2 deletions.
15 changes: 13 additions & 2 deletions src/main/blackbox/blackbox.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1480,9 +1480,20 @@ static bool blackboxWriteSysinfo(void)
currentPidProfile->angle.level_limit,
currentPidProfile->horizon.level_strength,
currentPidProfile->horizon.transition);
BLACKBOX_PRINT_HEADER_LINE("govPID", "%d,%d,%d", currentPidProfile->governor.p_gain,
BLACKBOX_PRINT_HEADER_LINE("govPID", "%d,%d,%d,%d,%d", currentPidProfile->governor.p_gain,
currentPidProfile->governor.i_gain,
currentPidProfile->governor.d_gain);
currentPidProfile->governor.d_gain,
currentPidProfile->governor.f_gain,
currentPidProfile->governor.gain);
BLACKBOX_PRINT_HEADER_LINE("rollBW", "%d,%d,%d", currentPidProfile->gyro_cutoff[PID_ROLL],
currentPidProfile->dterm_cutoff[PID_ROLL],
currentPidProfile->bterm_cutoff[PID_ROLL]);
BLACKBOX_PRINT_HEADER_LINE("pitchBW", "%d,%d,%d", currentPidProfile->gyro_cutoff[PID_PITCH],
currentPidProfile->dterm_cutoff[PID_PITCH],
currentPidProfile->bterm_cutoff[PID_PITCH]);
BLACKBOX_PRINT_HEADER_LINE("yawBW", "%d,%d,%d", currentPidProfile->gyro_cutoff[PID_YAW],
currentPidProfile->dterm_cutoff[PID_YAW],
currentPidProfile->bterm_cutoff[PID_YAW]);

BLACKBOX_PRINT_HEADER_LINE("deadband", "%d", rcControlsConfig()->rc_deadband);
BLACKBOX_PRINT_HEADER_LINE("yaw_deadband", "%d", rcControlsConfig()->rc_yaw_deadband);
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